This passive flexure mechanism provides, to a robot having parallel grippers, a precise control of grip force by a parallel flexure assembly. Control of grip force is by controllable stops which stop the application of additional force at a known point; the actual force applied by the gripper is a function of the relative position of the stops, the size of the object gripped, and the flexure of the assembly.
|Number of pages
|IBM technical disclosure bulletin
|Published - Jan 1 1984
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