We propose to design, build and test a universal robotic end- effector using a three-output differential to control three- fingers of the robotic gripper. Current differential technology is limited to controlling only two outputs with a single input. A truly universal gripper needs at least three fingers (three- outputs). A unique n-output (n can be any integer greater than 2) differential system has been developed (patents pending) that differentially distributes input power to any number of outputs. The practical significance of such a differential system to robotic technology is that all the outputs (robotic fingers) exert an equal amount of contact force on workpieces of any shape. Thus, the differential gripper is inherently and mechanically "intelligent" permitting power to a particular finger to be "shut-off" automatically as soon as the desired contact forces are established. Use of this new plural-output differential technology effectively eliminates a number of electronic sensors and drastically reduces the control complexity and the associated software while providing a truly universal gripping capability. The proposed universal gripping technology should be well suited for integration in to the United States robotics industry, which is in dire need of a more flexible approach to tooling. Cost savings will be gained from the mechanically intelligent system which significantly reduces sensor and software requirements. The universality of the new device along with its simple and highly efficient nature will provide industry with affordable long lasting tooling, whose flexibility can greatly increase overall robotic performance. This increased efficiency should make the use of robotic applications more feasible for many manufacturing processes.
