NASA NTRS · 20080008179
Robot gripper
Abstract
An electronic force-detecting robot gripper for gripping objects and attaching to an external robot arm is disclosed. The gripper comprises motor apparatus, gripper jaws, and electrical circuits for driving the gripper motor and sensing the amount of force applied by the jaws. The force applied by the jaws is proportional to a threshold value of the motor current. When the motor current exceeds the threshold value, the electrical circuits supply a feedback signal to the electrical control circuit which, in turn, stops the gripper motor.
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Webb, Winston S.. 1987-09-29. Robot gripper. https://ntrs.nasa.gov/citations/20080008179
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