Patent ID: 11904457
Assignee: EVODYNE ROBOTICS CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A gripper comprising:
a first compliant gripper jaw;
a first push-pull assembly having a first distal end fixed on the first compliant gripper jaw, wherein the first push-pull assembly is a first wire threaded through a first channel in the first compliant gripper jaw, wherein the first channel is formed through a first set of digits, wherein the first set of digits are interconnected by a first set of pins, and wherein the first set of digits swing on a first set of joints formed by the first set of pins;
a second compliant gripper jaw;
a second push-pull assembly having a second distal end fixed on the second compliant gripper jaw, wherein the second push-pull assembly is a second wire threaded through a second channel in the second compliant gripper jaw, wherein the second channel is formed through a second set of digits, wherein the second set of digits are interconnected by a second set of pins, and wherein the second set of digits swing on a second set of joints formed by the second set of pins;
an actuator connected to both the first push-pull assembly and the second push-pull assembly; and
a first set of covers attached to the first set of digits, wherein the first set of covers shield the first set of joints when the gripper closes; and
a second set of covers attached to the second set of digits, wherein the second set of covers shield the second set of joints when the gripper closes.