Patent ID: 9669551
Date: 2017-06-06
CPC Classifications: B25J,Y10S

Claim:
1. A mechanical finger comprising: a base link comprising a proximal end and a distal end, wherein the proximal end comprises at least one magnet configured to attach the mechanical finger to a frame; an intermediate link comprising a proximal end and a distal end, wherein the proximal end is attached to the distal end of the base link at a first joint configured to provide adduction and abduction between the base link and the intermediate link; a middle link comprising a proximal end and a distal end, wherein the proximal end is attached to the distal end of the intermediate link at a second joint configured to provide flexion and extension between the intermediate link and the middle link; and a distal link comprising a proximal end and a distal end, wherein the proximal end is attached to the distal end of the middle link at a third joint configured to provide flexion and extension between the middle link and the distal link; wherein the base link comprises; a first motor mechanically coupled to the intermediate link to drive the adduction and abduction between the base link and the intermediate link at the first joint; a second motor engaged to a first cable mechanically coupled to the middle joint to drive the flexion and extension between the intermediate link and the middle link at the second joint; a third motor engaged to a second cable mechanically coupled to the distal link to drive the flexion and extension between the middle link and the distal link at the third joint; wherein the mechanical finger includes no components that mechanically connect to a frame or a support that operates the mechanical finger.