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公开(公告)号：EP3954512A2
公开(公告)日：2022-02-16
申请号：EP21198553.6
申请日：2012-03-21
发明人： GARCIA, Pablo E. , LOW, Thomas P. , PRAHLAD, Harsha , AUKES, Daniel , KIM, Susan , KORNBLUH, Roy D.
摘要： Robotic hands (10) and finger modules (12-1, 12-2, 12-3, 12-4) include an underactuated finger with multiple joints (18) including a distal joint (18-3), an intermediate joint (18-2), and a proximal joint (18-1). A brake subsystem (158) in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon (130) coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.
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公开(公告)号：EP2908988B1
公开(公告)日：2017-12-06
申请号：EP13785998.9
申请日：2013-10-11
发明人： PRAHLAD, Harsha , PELRINE, Ronald, E. , KORNBLUH, Roy, D. , SCHMIDT, Roger, H. , BOURNES, Patrick, Allen
IPC分类号： H01L21/683 , H02N13/00 , B25J15/00
CPC分类号： H02N13/00 , B25J15/0085 , H01L21/6831 , H01L21/6833
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公开(公告)号：EP2911833A1
公开(公告)日：2015-09-02
申请号：EP13789068.7
申请日：2013-10-11
CPC分类号： B25J15/0085 , H02N13/00
摘要： An electroadhesive gripping system includes a vacuum- augmented gripper. The gripper can include an electroadhesive surface associated with one or more electrodes and a load-bearing backing structure coupled to the electroadhesive surface. The backing couples to the backside of the electroadhesive surface so as to at least partially define a shape of the electroadhesive surface. The backing is configured to flex between a curled shape and an uncurled shape. A spreading arm is configured to apply force to the backing so as to flex the backing from the curled shape to the uncurled shape. When positioned next to a substrate, the uncurling motion of the backing can cause the electroadhesive surface to become vacuum sealed to the substrate. A power supply can be configured to apply voltage to the electroadhesive surface.
摘要翻译： 电粘合夹持系统包括真空增强夹具。 夹具可以包括与一个或多个电极相关联的电粘合表面和耦合到电粘合表面的承载背衬结构。 背衬耦合到电粘合表面的背面，以便至少部分地限定电粘合表面的形状。 背衬被配置为在卷曲形状和未弯曲形状之间弯曲。 扩展臂构造成向背衬施加力，以使背衬从卷曲的形状弯曲到未弯曲的形状。 当位于基板的旁边时，背衬的非卷曲运动可以使电粘合表面变得真空密封到基板。 电源可以被配置为向电粘合表面施加电压。
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公开(公告)号：EP2908988A1
公开(公告)日：2015-08-26
申请号：EP13785998.9
申请日：2013-10-11
发明人： PRAHLAD, Harsha , PELRINE, Ronald, E. , KORNBLUH, Roy, D. , SCHMIDT, Roger, H. , BOURNES, Patrick, Allen
IPC分类号： B25J15/00
CPC分类号： H02N13/00 , B25J15/0085 , H01L21/6831 , H01L21/6833
摘要： An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. Systems described herein may also employ a load-bearing frame that is coupled to an electroadhesive gripping surface via an array of height-adjustable pins. Adjusting the pins changes the shape of the gripping surface, and may be used to conform to objects pressed against the gripping surface. Objects pressed against the gripping surface may cause one or more of the pins to retract by sliding within respective channels so as to cause the gripping surface to conform to the object. Some examples further include pin-locking mechanisms configured to secure the position of the pins within their respective channels and thereby fix the shape of the gripping surface after conforming to the object.
摘要翻译： 电粘附表面可以包括被配置为在向电极施加电压时引起与附近物体的静电引力的电极。 这里描述的系统还可以采用承载框架，该承载框架经由高度可调节销的阵列耦合到电粘附性夹持表面。 调整销钉可以改变抓取表面的形状，并且可以用来适应压在抓取表面上的物体。 压在抓持表面上的物体可以通过在相应通道内滑动而使一个或多个销缩回，从而使抓持表面符合物体。 一些示例还包括销锁定机构，该销锁定机构被构造成将销的位置固定在它们各自的通道内并且由此在符合物体之后固定抓握表面的形状。
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公开(公告)号：EP2844592A2
公开(公告)日：2015-03-11
申请号：EP13724944.7
申请日：2013-05-02
CPC分类号： H02N13/00 , B25J15/0085 , B65G17/46
摘要： An electroadhesive gripping platform includes one or more electrodes. A power supply is configured to apply voltage to the one or more electrodes in the electroadhesive platform via one or more terminals. A controller is configured to operate the electroadhesive gripping platform to selectively adhere to items loaded thereon and thereby enhance traction control over such items. The controller can control the power supply to apply a voltage to the one or more electrodes in the electroadhesive platform to thereby cause the electroadhesive platform to adhere to an item disposed on the electroadhesive platform such that the item resists moving with respect to the electroadhesive platform. The controller can also control the voltage supply to reduce the voltage applied to the one or more terminals such that the item moves with respect to the electroadhesive platform.
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公开(公告)号：EP3954512A3
公开(公告)日：2022-03-02
申请号：EP21198553.6
申请日：2012-03-21
发明人： GARCIA, Pablo E. , LOW, Thomas P. , PRAHLAD, Harsha , AUKES, Daniel , KIM, Susan , KORNBLUH, Roy D.
摘要： Robotic hands (10) and finger modules (12-1, 12-2, 12-3, 12-4) include an underactuated finger with multiple joints (18) including a distal joint (18-3), an intermediate joint (18-2), and a proximal joint (18-1). A brake subsystem (158) in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon (130) coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.
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