Patent ID: 8757690
Filing Date: 2014-06-24
Classification: B25J

Abstract:
1. A reconfigurable gripping device for gripping, lifting, and transporting a work piece, comprising: a plurality of base platforms adapted to be supported on a base structure; a first plurality of base supports and a second plurality of base supports, each of the base supports connected to one of the base platforms; a plurality of fingers including at least a first finger and a second finger, each of the respective fingers having a plurality of links including at least a first link, a second link, and a third link, each of the respective links having a base end and a distal end, each of the plurality of fingers being secured to one of the plurality of base platforms with one of the plurality of base supports; a first link drive mechanism configured to individually and directly drive the first link of one of the respective fingers, the first drive link mechanism including one of a first plurality of actuators secured to the plurality of base platforms; a second link drive mechanism configured to individually drive the second link of one of the respective fingers, the second link drive mechanism including one of a second plurality of actuators secured to the plurality of base platforms; a third link drive mechanism configured to individually drive the third link of one of the respective fingers; wherein the first link drive mechanism and second link drive mechanism are further configured to control the grasp and adaptability of one of the respective fingers to place the third link upon the work piece; and wherein the third link drive mechanism is configured to drive the third link of one of the respective fingers to apply a sufficient clamping force upon the work piece to enable the device to grip, lift, and transport the work piece.