Patent ID: 8534729
Filing Date: 2013-09-17
Classification: B25J

Abstract:
1. A robotic gripper, comprising: a plurality of fingers configured for grasping an object; and an actuator for driving at least one of the fingers, the actuator comprising: a drive train mechanically coupled to the at least one finger for driving the at least one finger; an impact mechanism mechanically coupled to the drive train for driving the drive train, the impact mechanism configured to generate a series of impacts that are delivered to the drive train when loaded beyond a threshold torque; and a driving device mechanically coupled to the impact mechanism for driving the impact mechanism; wherein the impact mechanism comprises an anvil coaxially engaged with a hammer, the driving device mechanically coupled to the hammer, and the drive train mechanically coupled to the anvil, wherein the hammer comprises a contact surface configured to strike at least a contact surface on the anvil; and wherein the hammer contact surface and the anvil contact surface are sloped at an angle that is less than 90° with respect to a plane of rotation of the hammer and anvil, respectively.