A gripper includes a finger module coupled to one side of a palm module, the palm module including a first power unit including a first rotary shaft and configured to rotate the first rotary shaft, a screw member configured to rotate in conjunction with a rotation of the first rotary shaft, a nut member coupled to the screw member, a first member coupled to the nut member and movable in a vertical direction in conjunction with a vertical motion of the nut member, the first member having a groove extending in one direction and having a recessed shape, and a connection member having a first side coupled to the finger module and a second side inserted into the groove, wherein the connection member is movable away from or toward the screw member by restriction between the connection member and an inner surface of the groove.

A gripper includes a finger module coupled to one side of a palm module, the palm module including a first power unit including a first rotary shaft and configured to rotate the first rotary shaft, a screw member configured to rotate in conjunction with a rotation of the first rotary shaft, a nut member coupled to the screw member, a first member coupled to the nut member and movable in a vertical direction in conjunction with a vertical motion of the nut member, the first member having a groove extending in one direction and having a recessed shape, and a connection member having a first side coupled to the finger module and a second side inserted into the groove, wherein the connection member is movable away from or toward the screw member by restriction between the connection member and an inner surface of the groove.

Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

A clamping device comprises an inner rod, a sliding handle, one or more claws, a top yoke, a bottom yoke, a spring, and a counterweight. The sliding handle surrounds and slides about the inner rod. The top yoke is coupled to the inner rod and each claw is coupled to the top yoke. The bottom yoke is coupled to the sliding handle and each claw is coupled to the bottom yoke via linkage bars. The inner rod is coupled to the counterweight. The spring extends between the sliding handle and the counterweight. The claws, top yoke, linkage bars, and bottom yoke form four-bar linkages. The clamping device clamps an object via a spring force transferred to the claws via the four-bar linkages. Each claw provides an equivalent clamping force independent of orientation of the apparatus. Spring tension is configurable by threading the inner rod into and out of the counterweight.

A clamping device comprises an inner rod, a sliding handle, one or more claws, a top yoke, a bottom yoke, a spring, and a counterweight. The sliding handle surrounds and slides about the inner rod. The top yoke is coupled to the inner rod and each claw is coupled to the top yoke. The bottom yoke is coupled to the sliding handle and each claw is coupled to the bottom yoke via linkage bars. The inner rod is coupled to the counterweight. The spring extends between the sliding handle and the counterweight. The claws, top yoke, linkage bars, and bottom yoke form four-bar linkages. The clamping device clamps an object via a spring force transferred to the claws via the four-bar linkages. Each claw provides an equivalent clamping force independent of orientation of the apparatus. Spring tension is configurable by threading the inner rod into and out of the counterweight.

A gripper apparatus is configured to grasp a closed receptacle having a closure affixed to an open top end of a receptacle. Opposed jaw members capable of lateral movement between an open position, a first closed position, and a second closed position are configured to grasp the closed receptacle when the closed receptacle is situated between the jaw members at the first closed position and to release the closed receptacle at the open position. The gripper apparatus further includes a plurality of fingers configured to grasp a sidewall of the closure beneath a top surface of the closure when the closure is situated between the plurality of fingers and beneath a base of each of the jaw members as the jaw members move laterally toward each other from the open position to the second closed position.

A gripper apparatus is configured to grasp a closed receptacle having a closure affixed to an open top end of a receptacle. Opposed jaw members capable of lateral movement between an open position, a first closed position, and a second closed position are configured to grasp the closed receptacle when the closed receptacle is situated between the jaw members at the first closed position and to release the closed receptacle at the open position. The gripper apparatus further includes a plurality of fingers configured to grasp a sidewall of the closure beneath a top surface of the closure when the closure is situated between the plurality of fingers and beneath a base of each of the jaw members as the jaw members move laterally toward each other from the open position to the second closed position.

An end effector including a processing mechanism and a target-object-positioning mechanism provided at a support member. The target-object-positioning mechanism includes a first contact-and-move member configured to move in a front-rear direction of the end effector and in a first orthogonal direction with respect to the support member, and a second contact-and-move member configured to move in the front-rear direction and in a second orthogonal direction with respect to the support member. The first and second contact-and-move members, while maintaining a position thereof in the front-rear direction with respect to the support member, move in the first orthogonal direction and the second orthogonal direction, respectively, to make contact with the target object in a contact-and-move-member-moving space. The first and second contact-and-move members, while maintaining contact with the target object, move in a rearward direction with respect to the support member, to thereby position the target object at a processing position.

An end effector including a processing mechanism and a target-object-positioning mechanism provided at a support member. The target-object-positioning mechanism includes a first contact-and-move member configured to move in a front-rear direction of the end effector and in a first orthogonal direction with respect to the support member, and a second contact-and-move member configured to move in the front-rear direction and in a second orthogonal direction with respect to the support member. The first and second contact-and-move members, while maintaining a position thereof in the front-rear direction with respect to the support member, move in the first orthogonal direction and the second orthogonal direction, respectively, to make contact with the target object in a contact-and-move-member-moving space. The first and second contact-and-move members, while maintaining contact with the target object, move in a rearward direction with respect to the support member, to thereby position the target object at a processing position.