로봇 매니퓰레이터용 그리퍼 어셈블리

• Main Authors: SOTIROPOULOS PANAGIOTIS, DEACON GRAHAM, FRAS JAN
• Format: Patent
• Language: Korean
• Published: 22.04.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

본 개시는 물체를 조작하는 동안 로봇 매니퓰레이터의 그리퍼 어셈블리의 핑거 요소에 인가된 힘을 확인하는 것에 관한 것이다. 일 측면에서, 핑거 요소, 액츄에이터, 핑거 요소를 액츄에이터에 연결하는 복수의 암을 포함하는 링키지 어셈블리, 핑거 요소에 인가된 힘의 결과로서 복수의 암에 인가된 힘 성분을 나타내는 신호를 출력하도록 구성된 센서 어셈블리를 포함하는 그리퍼 어셈블리를 개시한다. A gripper assembly 122 for a robotic manipulator 121 comprises a finger element 132, an actuator, a linkage assembly 136 comprising a plurality of arms 138, 140 connecting the finger element 132 to the actuator and a sensor assembly 146 configured, in use, to output signals indicative of force components applied to the plurality of arms 138, 140 as a result of a force being applied to the finger element 132 during the manipulation of an object. A control system for the robotic manipulator may comprise a controller (110 figure 1) configured to determine, based on signals outputted by the sensor assembly (146 figure 3a), values indicative of force components applied to each of the plurality of arms 138, 140 as a result of a force being applied to the finger element 132, to determine, based on the values indicative of the force components, a value indicative of a resultant force vector applied to each of the plurality of arms 138, 140 and to determine, based on the values indicative of the resultant force vectors, a value indicative of an applied force vector indicative of the magnitude and direction of the force applied to the finger element 132.