Patent ID: 11945111
Assignee: UNIVERSITÉ LAVAL
Field: Mechanical elements (Mechanical engineering)
Classification: CPC B  F | IPC B  F

Claim 18:
19. A gripper mechanism comprising:
a platform;
at least three legs extending from a base or ground to the platform, each leg including
a distal link,
a proximal joint providing at least two rotational DOFs at the proximal end of the distal link,
assemblies of joints and links to provide DOFs to each said leg between the proximal joint and the base or ground, and
at least one distal joint providing one rotational degree of freedom (DOF) about a distal rotational axis, the at least one distal joint connecting a distal end of the distal link to the platform,

the distal rotational axes of the three legs being parallel to one another;
wherein the at least one distal joint providing one rotational DOF about a distal rotational axis is part of a four-bar mechanism providing the one rotational DOF, for at least two of the legs; and
wherein the four-bar mechanisms of at least two of the legs respectively support a finger, with a distance between the fingers being variable by actuation of movement of the legs.