公开(公告)号：US11926061B2

公开(公告)日：2024-03-12

申请号：US17606773

申请日：2020-04-29

Applicant: UNIVERSITA' DI PISA

Inventor： Manolo Garabini ,  Danilo Caporale ,  Alessandro Settimi ,  Lucia Pallottino ,  Manuel Giuseppe Catalano ,  Giorgio Grioli ,  Vinicio Tincani ,  Antonio Bicchi

IPC: B25J13/08 ,  B25J5/00 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00 ,  B65G47/90 ,  B65G61/00

CPC classification number: B25J9/1682 ,  B25J5/007 ,  B25J9/0087 ,  B25J9/0093 ,  B25J13/08 ,  B25J13/085 ,  B25J15/0009 ,  B25J15/0014 ,  B65G47/907 ,  B65G61/00

Abstract: Logistic device, for handling a package being collected that defines a contact surface with items not being collected, including a first robotic arm including adaptive gripper having at least three degrees of freedom to modify adaptive gripper position and spatial orientation; a second robotic arm including an end effector defining a resting surface and three degrees of freedom to modify end effector position and spatial orientation; control unit to command the first robotic arm to contact the adaptive gripper and package, to deform the adaptive gripper according to adhesion surface between the package and move the package from a storage position wherein the contact surface contacts the items and a collection position wherein the contact surface does not contact the items; the second robotic arm bringing the end effector resting surface into contact with the contact surface; and then the second robotic arm to move the package.

公开(公告)号：US10695913B2

公开(公告)日：2020-06-30

申请号：US15772368

申请日：2016-10-27

Applicant: UNIVERSITA′ DI PISA ,  FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： Antonio Bicchi ,  Cosimo Della Santina ,  Alberto Brando ,  Cristina Piazza ,  Manuel Giuseppe Catalano ,  Giorgio Grioli

IPC: A61F2/54 ,  A61F2/58 ,  B25J15/00 ,  B25J15/02 ,  B25J15/08 ,  A61F2/68 ,  A61F2/70

Abstract: Provided is a robotic hand which includes a palm, a plurality of phalanges adapted to reproduce a plurality of fingers, and an actuating mechanism. The actuating mechanism may include a first pulley located at each hinge and bound to the first element, second pulleys located at each of the hinges and bound to the second element, a single cable running in all of the pulleys and a motor adapted to act on the cable by controlling the rotation of the phalanges.