UNIVERSAL OMNI-DIRECTIONAL GRIPPER FINGER Russian patent published in 2023 - IPC B25J15/08 B25J15/12 

FIELD: robotics.

SUBSTANCE: invention can be used to create fingers for manipulator grippers, as well as as medical equipment for upper limb prostheses. The finger contains an elastic helical compression spring and is driven by cable pulling drives. The traction cables are located inside the spring and are shifted relative to the axis of the finger towards its inner surface. One end of each cable is attached to the end member of the finger, and the other end is connected to the pulling drive. The shape of the finger spring has a constant coil diameter or a straight taper with a decreasing coil diameter from the base of the finger to its end, or a reverse taper with a decreasing coil diameter from the end of the finger to its base. The finger contains at least two traction cables. The cables are distributed inside the spring so that the angle at the base of the internal working sector formed by the axis of the finger and the direction towards two adjacent cables is less than 180°, and at the base of the finger there is a root support on which the finger spring is fixed and axes are mounted tangentially on which guide rotating pulleys with cone-shaped grooves are mounted radially for laying a corresponding traction cable on each of them and directing it to the pulling drive.

EFFECT: finger can be bent in any desired direction, the length of the finger can be changed, and the variety of objects grasped can be expanded by adapting the fingers to the size and shape of the objects.

3 cl, 7 dwg