A gripping mechanism includes: two gripping pieces pivoted relative to each other about a pivot axis; a base supporting the gripping pieces in a pivotable manner; a pulling pulley rotatably supported about a rotation axis parallel to the pivot axis; and a wire wound around the pulley, and causing, with a pulling force, the pulley to move the rotation axis. The pulley is disposed so that a resultant force of tensile forces of the wire becomes greater than the pulling force and generates a moment causing the gripping pieces to be pivoted relative to each other in closing direction. The base includes a first hole. At least one of the gripping pieces includes a second hole inclined in one direction with respect to the longitudinal axis of the first hole. The rotation axis is provided so as to be movable along the longitudinal axes of the individual holes.

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.

Provided is a robotic hand which includes a palm, a plurality of phalanges adapted to reproduce a plurality of fingers, and an actuating mechanism. The actuating mechanism may include a first pulley located at each hinge and bound to the first element, second pulleys located at each of the hinges and bound to the second element, a single cable running in all of the pulleys and a motor adapted to act on the cable by controlling the rotation of the phalanges.

A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.

An apparatus for performing operations on a part, and in particular on the fuselage of an aircraft. The apparatus utilizes a spool with a cable wound therearound to move end effectors. The ends of the cable are fixed to an arched beam. Thus, rotation of the spool either moves the beam or moves the spool. The apparatus moves along rails that may be mounted to a fixed structure like floors or walls.

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.

The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to the second connection portion. The flexure is configured to deform elastically when the first joint member and the second joint member move from a first configuration to a second configuration. When in the first configuration, the central portion of the flexure is spaced apart from the contact portion. When in the second configuration, the central portion of the flexure contacting the contact portion.

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.

A grasping mechanism including a first grasping piece and a second grasping piece that are coupled with each other so as to be pivotable about a pivoting axis, a pulling pulley that is supported by the second grasping piece so as to be rotatable about a rotation axis parallel to the pivoting axis, and a wire whose distal end is secured to one grasping piece and that is wound around the pulling pulley so that a resultant force of tensile forces on both sides of the pulling pulley flanking the rotation axis generates a rotational moment about the pivoting axis in a closing direction of the second grasping piece.

The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.