US 12,296,464 B2
Gripper
Fares Kfoury, Gif-sur-Yvette (FR); and Mathieu Grossard, Gif-sur-Yvette (FR)
Assigned to COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUXENERGIES ALTERNATIVES, Paris (FR)
Appl. No. 18/706,893
Filed by COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES, Paris (FR)
PCT Filed Nov. 3, 2022, PCT No. PCT/EP2022/080731
§ 371(c)(1), (2) Date May 2, 2024,
PCT Pub. No. WO2023/079028, PCT Pub. Date May 11, 2023.
Claims priority of application No. 2111735 (FR), filed on Nov. 4, 2021.
Prior Publication US 2024/0416533 A1, Dec. 19, 2024
Int. Cl. B25J 15/10 (2006.01); B25J 15/00 (2006.01); B25J 15/02 (2006.01)
CPC B25J 15/10 (2013.01) [B25J 15/008 (2013.01); B25J 15/024 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A gripper comprising a frame and an actuated finger, the finger comprising a first distal phalanx and a second proximal phalanx which is articulated on the frame about a first axis, the first phalanx and the second phalanx being mechanically connected to enable a rotation of the first phalanx about a second axis substantially parallel to the first axis, such that the finger can pass from an opening configuration to a clamping configuration, when the first phalanx and/or the second phalanx performs a rotation in a first direction relative to the frame, the finger comprising a controllable adhesion element, the gripper comprising a first abutment to limit a first angular stroke of a first rotation of the first phalanx about the second axis in a second direction opposite the first direction, the first angular stroke comprises a first angular sector in the second direction and measured from a first plane comprising the first axis and the second axis;
wherein the finger is under-actuated and comprises at least one first member for returning the finger or the first phalanx to an opening configuration of the finger.