Original Publication Date: 1985-Feb-01
Included in the Prior Art Database: 2005-Feb-18
This article relates generally to robotics and more particularly to a linkage assembly for driving two robot manipulator fingers such that their contact surfaces move toward each other in a straight line and remain parallel. Still more particularly, this article relates to a robot manipulator wherein the manipulator finger beams, as they reach the limit of their motion toward each other, form an angle with respect to a horizontal or vertical axis. This feature allows the manipulator finger to pick up thin objects from a flat surface. Referring now to the figure, there is shown a schematic drawing of a gripper assembly 1 which drives a pair of manipulator fingers 2 each of which is attached to a finger strain gage sensor 3. Each sensor 3 is attached to a yoke 4.