The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 28, 2013
Filed:
Jan. 28, 2010
Toshiyuki Kondo, Tochigi-ken, JP;
Shinji Sawada, Tochigi-ken, JP;
Nobuhiro Nanba, Utsunomiya, JP;
Yoshikazu Hayakawa, Nagoya, JP;
Kenji Fujimoto, Nagoya, JP;
Akira Nakashima, Nagoya, JP;
Takashi Uno, Obu, JP;
Toshiyuki Kondo, Tochigi-ken, JP;
Shinji Sawada, Tochigi-ken, JP;
Nobuhiro Nanba, Utsunomiya, JP;
Yoshikazu Hayakawa, Nagoya, JP;
Kenji Fujimoto, Nagoya, JP;
Akira Nakashima, Nagoya, JP;
Takashi Uno, Obu, JP;
Honda Motor Co., Ltd., Tokyo, JP;
National University Corporation, Nagoya-Shi, JP;
Abstract
The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a point of calculation. Then an allowable gripping force is calculated which is an index that indicates an allowable force to be applied to the workpiece at point. Then other allowable forces are calculated for a plurality of points near the point of calculation. Then the point of calculation is selected as a possible gripping position if the allowable force a point is greater than any of the allowable forces. Otherwise, one of the points is selected for another point of calculation where the greatest allowable force (De) has been calculated and return to calculating an allowable gripping force.