Patent ID: 6435582
Filing Date: 2002-08-20
Classification: B25J,G01N

Abstract:
An object manipulator including a gripper assembly arranged to grip and release an object, wherein said gripper assembly comprises:a plurality of gripper fingers, each of said gripper fingers including a camming surface portion, a bearing surface portion, and an object engaging portion; a gripper finger pivot assembly arranged to accommodate respective bearing surface portions of said plurality of gripper fingers and wherein said gripper finger pivot assembly is arranged to define respective passages there through, and wherein said respective passages are arranged to accommodate respective bearing surface portions of said plurality of gripper fingers, and wherein each gripper finger has a pivot axis that is parallel to the longitudinal axis of that particular gripper finger; and a finger spreader positioned to progressively engage respective camming surface portions of said plurality of gripper fingers, wherein said gripper fingers are shaped and said pivot assembly is arranged such that progressive engagement of respective camming surface portions by said finger spreader causes said object engaging portions to be drawn away from each other and such that progressive disengagement of respective camming surface portions and said finger spreader causes said object engaging portions to be drawn towards each other.