Original Publication Date: 1984-Jun-01
Included in the Prior Art Database: 2005-Feb-04
This passive flexure mechanism provides, to a robot having 1 parallel grippers, a precise control of grip force by a parallel flexure assembly. Control of grip force is by controllable stops which stop the application of additional force at a known point; the actual force applied by the gripper is a function of the relative position of the stops, the size of the object gripped, and the flexure of the assembly. Robot manipulators tend to be "position controllable" devices, whereas what is often needed is control of force rather than control of position. Lacking robots which are directly "force controllable," it is common to add compliances to the manipulator to translate distances into forces.