Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate. A method includes contacting a portion of a finger body against a datum.

The present disclosure relates to a grip jaw structure with characteristics as follows: a cam disk is driven by a rotary motor; two transmission shafts are driven through two slotted guideways in the cam disk; lubricants inside the slotted guideways adhere to a plurality of bearings in which the transmission shafts in the slotted guideways are inserted when the transmission shafts are shifted; sliders between which a workpiece is clamped are driven to be shifted by the transmission shafts along linear rails at the top of the framework for stresses sustained and dispersed by bearings.

An apparatus and method for gripping a syringe utilizes four gripping members advanceable in different corresponding directions toward a predetermined axis to supportably engage a barrel of a syringe at corresponding circumferentially offset locations. A first motor may be utilized for co-driven advancement of the gripping members in tandem in the different corresponding directions toward the predetermined axis, and for retraction of the gripping members. The gripping members may include corresponding rollers, wherein a single one of the rollers may be rotated in an automated manner during supportive engagement of a syringe by the gripping members. A second motor may be utilized for driven rotation of the single roller. The disclosed embodiments may be utilized for supportive engagement of syringes having a range of syringe diameters.

Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.

A gripper for industrial manipulators includes: at least two jaws one of which being movable allowing it to be opened and closed; and a gripper body. A first gripper body portion housing an actuator device and a second portion supporting the jaws and at least one pin element, defining a pivot axis of the movable jaw, or a pivot axis of at least one transmission element operatively interposed between the at least one movable jaw and the actuator device. The gripper arranged so that the pin element also acts as a locking pin to firmly lock together the first and second portions of the gripper body in assembled condition. The pin element having a circumferential groove which allows a snap coupling of the first portion and the second portion of the gripper body: an elastic element separating them and engaging the edge of one of the two in the groove.

Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.

An attaching-detaching mechanism (23, 63) of a gripping device includes: a tubular support member (44, 84) provided to a movable member (3, 4) to protrude in the guide hole (24, 64); engagement members (46, 86) respectively inserted in support holes (45, 85) of the support member (44, 84) so as to be radially movable; an operation portion (49, 89) inserted in a guide hole (24, 64); wedge portions (50, 90) provided on an inner peripheral wall of the operation portion (49, 89); a connecting rod (53, 93) provided to protrude from a claw member (22, 62) and configured to be insertable into a tubular hole (51, 91) of the support member (44, 84); and a lock portion (56, 96) provided on an outer peripheral wall of the connecting rod (53, 93).

A cam pedestal member includes a plurality of three-dimensional cams including a plurality of cam guiding surfaces continuing over a range from a through hole provided at a center of a cam base portion to an outer peripheral side, and being formed upright at a plurality of positions. The cam base portion includes coupling portions coupling the cam pedestal member directly or indirectly to a rotor shaft at plurality of positions in gap areas between radially inner ends and radially outer ends of the adjacent three-dimensional cams.

Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.

A tube picking mechanism is suitable for use in an automated, ultra-low temperature (e.g., 80 C.) storage and retrieval systems which stores biological or chemical samples. The samples are contained in storage tubes held in SBS footprint storage racks that are loaded into trays located within an ultra-low temperature freezer compartment (80 C.). The tube picking mechanism includes a picking head and a cache that can accommodate sample tubes and vials of different sizes and diameters