The gripper assembly includes a base, a guide situated on the base, and first and second jaws members. First and second ball bearing slides are associated with the jaw members for mounting the jaw members for movement along a guide track between proximate and remote positions. First and second low friction pneumatic actuators are provided. A mechanical linkage connects the actuators to at least one of the jaw members. A pulley and wire rope assembly connects the first and second jaw members for simultaneous movement in opposite directions. Valves are provided for actuating one actuator at a time. Actuation of the first actuator causes simultaneous movement of the jaw members in one direction. Actuation of the second actuator causes simultaneous movement of the jaw members in opposite directions.

Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.

A hand intended for a humanoid robot comprising a palm and several fingers, each of the fingers being able to be displaced in relation to the palm between a position of rest maintained by spring effect and a compressed position obtained by driving a link part with the palm countering the spring effect, comprises a motorized shaft, linked to the link part of each of the fingers, and configured to respectively displace at least one first finger and at least one second finger, from the position of rest to the compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in an opposite direction.

In a gripping or clamping device it is important to detect the position of the clamping jaws. In the prior art this is achieved by incremental or absolute measurements which, for example, carry out optical sampling of a measuring bevel.

The present invention provides an approach that is less expensive and at the same time less susceptible to soiling, as well as space-saving. It is proposed to mount magnetic encoding on at least one clamping jaw and to evaluate this magnetic encoding by use of a magnetic sensor.

A modularly-structured gripping mechanism for robots, machines, and handling devices comprises at least one movable gripping finger that sits directly or indirectly on a finger module and works counter to a stationary or movable finger. The finger module consists of a slide unit that comprises a housing and a slide made from an aluminum section which is hollow all the way through and has multiple bore holes. The housing consists of a frame and multiple rods which extend parallel to one another, between the end faces, and prestress all parts of the housing. The rods simultaneously function as guide rods for the slides. A very stable gripping mechanism for heavy loads is produced by form-fittingly mounting any number of finger modules on a flange case. The finger modules can have their own drive or can share one drive.

An end effector of a wafer transfer system includes synchronously movable blades operable to hold and release wafers. The end effector comprises an end effector housing including a first blade mount coupled to a first blade, a second blade mount coupled to a second blade, and an actuator operable to move the blade mounts on respective linear rails. The actuator includes a longitudinally movable piston coupled to the respective blade mounts by respective actuator links. The actuator links are pivotally coupled to the longitudinally movable piston at respective first ends thereof and to the first and second blade mounts at respective second ends thereof wherein moving the piston towards a retracted position causes the blades to synchronously move laterally towards each other and moving the piston towards the retracted position causes the blades to synchronously move laterally away from each other so as to hold or release a wafer.

Some aspects are generally related to gripper systems for manipulating holders and/or containers disposed therein for use with radionuclide generators. In some embodiments, the gripper system further facilitates the insertion and/or removal of a stopper from the container, which may maintain a sterility of an interior of the container before and/or after exposure of the container to radionuclides from the radionuclide generator.

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.

An object gripping mechanism is provided for use with a robotic arm. A robotic arm and method of manufacturing an object gripping mechanism are also provided. The object gripping mechanism includes an attachment modular configured to connect the object gripping mechanism to the robotic arm. The object gripping mechanism also includes a plurality of retractable arms each pivotably connected with the attachment modular. The object gripping mechanism also includes one or more movement mechanisms collectively configured to pivot the plurality of retractable arms to a desired position. The object gripping mechanism further includes a drive mechanism positioned within each of the plurality of retractable arms and configured to pivot the object engagement feature using a gear and timing belt configuration.

A chuck unit includes a first pressure chamber and a second pressure chamber disposed on both sides of a piston for driving fingers. A valve unit includes a first output air flow path connected to one of the first and second pressure chambers, a second output air flow path connected to the other thereof, a first solenoid valve connected to the first output air flow path, and a second solenoid valve connected to the second output air flow path. The first solenoid valve connects the first output air flow path to an air supply source when energized and opens the first output air flow path to atmosphere when de-energized, and the second solenoid valve opens the second output air flow path to atmosphere when energized and connects the second output air flow path to the air supply source when de-energized.