A target spar. A left jaw member. The left guidance portion has a left spiral curve. The left arm portion has a left arm profile, a left arm gear, and a left arm protrusion. A right jaw member. The right guidance portion has a right spiral curve. The right arm portion comprises a right arm gear and a right arm protrusion. A top plate member. A bottom plate member. A drive unit comprising an electric motor within a pressure housing. A drive shaft on the electric motor. The bottom plate member abuts the left jaw member, the right jaw member, and the top plate member. The left jaw member and the right jaw member opened and closed. At the closed position, the target spar is slidably received in the left and right jaw members, the top and bottom plate members, and abuts the left and right arm profiles.

Anthropomorphic robotic hand comprising a palm and a metacarpus configured to rotate with respect to said palm around an axis of rotation; four fingers substantially aligned and constrained to said palm and a finger opposable to them, each one of said aligned fingers comprising at least a proximal phalanx, a middle phalanx and a distal phalanx, and said opposable finger comprising a proximal phalanx and a distal phalanx, the proximal phalanges of each one of said aligned fingers being hinged to said palm in respective axes of rotation and the proximal phalanx of said opposable finger being hinged to said metacarpus in a respective axis of rotation; a motor; a plurality of bevel gear differential stages which transmit motion from said motor to said aligned fingers and to said opposable finger.

A gripper includes a body part, a finger base part coupled to the body part, and a finger part coupled to a first side of the body part or the finger base part and coupled to the body part or the finger base part to be reciprocal, wherein the finger part comprises a first link structure and a second link structure, sides of which are coupled to the finger base part, respectively, and wherein, in the first link structure and the second link structure, a first support area of the first link structure and a second support area of the second link structure reciprocate in only one of a plurality of directions that cross a direction in which the finger part reciprocates with respect to the finger base part.

A gripper for a transport system of a picking device having horizontal storage surfaces for storing and dispensing small piece goods of different shapes and/or surface properties is provided. The gripper comprises a drop table extending in first and a second horizontal directions and having a storage and dispensing end face. Two elongated gripping jaws are arranged above the drop table extending in the first horizontal direction, and are fastened to a gripping jaw guide arrangement. At least one of the gripping jaws is movable in the second horizontal direction and at least one of the gripping jaws has a gripper coupler in its end portion facing away from the gripping jaw guide arrangement, and at least one transport attachment with an attachment coupler. The gripper and attachment couplers interact so that a transport attachment is releasably fixed at an end portion of a gripping jaw.

A refuse vehicle includes a chassis, multiple tractive elements, a reach assembly, and a lift assembly. The multiple tractive elements are coupled with the chassis and configured to support the refuse vehicle. The reach assembly is coupled with the refuse vehicle. The lift assembly is coupled with the reach assembly. The lift assembly includes a track and a fully-electric grabber assembly. The track includes a straight portion and a curved portion. The fully-electric grabber assembly can ascend or descend the track and includes a carriage, a first grabber arm, a second grabber arm, and an electric motor. The carriage is configured to movably couple with the track. The first grabber arm and the second grabber arm are pivotally coupled with the carriage at opposite ends of the carriage. The electric motor is configured to drive the first grabber arm and the second grabber arm to rotate relative to the carriage.

Various exemplary methods, systems, and devices for causing end effector motion with a robotic surgical system are provided. In general, a surgical tool can be configured to releasably and removably couple to a robotic surgical system. The robotic surgical system can include two motors configured to provide torque to the surgical tool to drive one single function of the surgical tool. In at least some embodiments, at least one of the two motors configured to cooperate with another motor to drive the single function of the surgical tool can be configured to drive a second function of the surgical tool.

An unmanned ground vehicle includes a main body, a drive system supported by the main body, and a manipulator arm pivotally coupled to the main body. The drive system comprising right and left driven track assemblies mounted on right and left sides of the main body. The manipulator arm includes a gripper, a wrist motor configured for rotating the gripper, and an inline camera in a palm of the gripper. The inline camera is mechanically configured to remain stationary with respect to the manipulator arm while the wrist motor rotates the gripper.

Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.

An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.

A fully-electric grabber assembly includes a first grabber arm, a second grabber arm, an electric motor, and a plurality of gears. The plurality of gears includes a first gear coupled with the electric motor, an intermediate gear coupled with the first gear, and an arm gear coupled with the first grabber arm and the intermediate gear to facilitate pivoting the first grabber arm. The first gear is configured to rotate about an axis radially offset from a center thereof.