Passive grabbing apparatus having six degrees of freedom and single command control

摘要

A six degree of freedom grabbing apparatus (20) allows normally open jaws (22) to be positioned in a desired location and orientation relative to a work platform (19), whereupon a single control locks the grabbing apparatus is the desired location and orientation. The jaws (22) are secured to the end of an arm (24). The arm (24) is attached to a shoulder joint (26). The shoulder joint allows the arm to rotate (37) and pitch (38). The shoulder joint is secured to a base unit (28), which base unit is slidably and pivotally connected to the work platform (19, 80), allowing the base unit (and hence the shoulder joint and arm) to move in the same plane, e.g., the x and y directions, as the work platform, and further allowing the base unit, shoulder joint and arm to yaw (39) relative to a given position on the platform. Six degrees of freedom are provided by the apparatus; jaw closing/opening; pitching, rotating, yawing, moving in the x direction, and moving in the y direction. A single locking force, enabled from a single locking control signal, closes the jaws, locks the arm to the shoulder joint, and locks the shoulder joint to the work platform, in that sequence. The invention includes a method of locking a plurality of locking mechanisms, such as a jaw, shoulder joint, and base unit, in a desired sequence using a single locking force.