Patent Publication Number: US-2022234214-A1

Title: Autonomously encapsulating gripper tooling

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This is a continuation of U.S. patent application Ser. No. 16/430,724, entitled “AUTONOMOUSLY ENCAPSULATING GRIPPER TOOLING”, filed Jun. 4, 2019, which is incorporated herein by reference. U.S. patent application Ser. No. 16/430,724 is a non-provisional application based upon U.S. provisional patent application Ser. No. 62/682,471, entitled “AUTONOMOUSLY ENCAPSULATING GRIPPER TOOLING”, filed Jun. 8, 2018, which is incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to gripper tooling, and, more particularly, to self-articulating grippers. 
     2. Description of the Related Art 
     Grippers are mechanical devices which generally include jaws that are moved together or apart by motive devices, such as electric motors or pneumatic pistons. Tooling is typically fastened to the jaw to provide some degree of conformal contact between the surface of the tool and one or more surfaces of a gripped workpiece. Once the jaws have moved the fastened tooling into a position of contact with the gripped workpiece, the jaws produce a force against the tooling which is transferred by the tooling to retain the workpiece so that the position of the workpiece might be subsequently translated or rotated. It is often desirable that the tooling fully or partially encapsulate the profile of the workpiece to prevent relative motion from occurring between the workpiece and tooling as the workpiece is subsequently translated or rotated or external forces are applied to the workpiece. 
     It is known in the art to construct the tooling with a complimentary contacting surface profile which corresponds to the profile of the work-piece to better encapsulate a gripped workpiece. This method of encapsulation typically renders the tooling suitable for gripping only a single shape of workpiece or a series of similarly shaped workpieces that share a common surface profile. Generally, tooling must be removed and replaced if a noncompatible shape of workpiece is to be subsequently gripped, resulting in an undesirable increase in downtime and reduced throughput for the manufacturing or material handing operation of which the gripper is a part. 
     What is needed in the art is a cost-effective gripper for automatically accommodating the shape of the workpiece and gripping the workpiece. 
     SUMMARY OF THE INVENTION 
     The present invention provides a gripper tooling capable of autonomously adjusting to conform to the gripped profile of the workpiece, so as to encapsulate a broad spectrum of shapes and sizes of workpieces. The gripper tooling furthermore derives the motive force necessary to adjust solely from the motion of the gripper jaws to which the tooling is attached. This manner of force derivation simplifies the connection between the tooling and the gripper as the tooling need only to be mechanically fastened to the gripper in order to operate as desired. Such manner of simple attachment allows the tooling to be used with numerous types of commercial grippers by only changing the mounting pattern of the tooling to match the pattern of the gripper jaws. 
     The invention in one form is directed to a gripper tooling including a gripper having a gripper body and at least one jaw connected and linearly sliding relative to the gripper body, at least one slider connected to the at least one jaw, and at least one tooling member configured for gripping a workpiece. Each tooling member including a base slideably mounted to the at least one slider, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, an adducting tendon having a proximal end attached to the at least one slider and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one tooling member is configured for autonomously gripping the workpiece as the at least one jaw moves toward the workpiece and the at least one tooling member autonomously returns to an ungripped position as the at least one jaw moves away from the workpiece. 
     The invention in another form is directed to a gripper tooling including a gripper having a gripper body and at least one angular jaw, at least one rotor rotatably connected to the at least one angular jaw, and at least one tooling member configured for gripping a workpiece. Each tooling member including a base pivotally connected to the at least one rotor, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, an adducting tendon having a proximal end attached to the at least one rotor and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The at least one tooling member is configured for autonomously gripping the workpiece as the at least one angular jaw rotates toward the workpiece and the at least one tooling member autonomously returns to an ungripped position as the at least one angular jaw rotates away from the workpiece. 
     The invention in yet another form is directed to a method for gripping a workpiece including a step of providing a gripper tooling including a gripper having a gripper body and at least one jaw moveably connected to the gripper body, at least one mount moveably connected to the at least one jaw, and at least one tooling member configured for gripping the workpiece, each tooling member including a base moveably mounted to the at least one mount, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, an adducting tendon having a proximal end attached to the at least one mount and a distal end attached to the distal segment, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment. The method also includes the steps of gripping the workpiece by the adducting tendon upon moving the base, by the at least one jaw, to be immobilized by the workpiece, and ungripping the workpiece by the abducting tendon upon moving the base, by the at least one jaw, away from the workpiece. 
     An advantage of the present invention is that the gripper tooling fingers self-articulate, via the usual operational motion of the gripper jaws, to autonomously encapsulate a plethora of differently-shaped workpieces. 
     Another advantage of the present invention is that the self-articulating gripper tooling fingers can be easily and efficiently attached to numerous types of gripper jaws by only changing the mounting pattern of the gripper tooling fingers to match the mounting pattern of the gripper jaws. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above-mentioned and other features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein 
         FIG. 1  is a perspective view of an embodiment of a gripper tooling having left and right tooling members according to the present invention; 
         FIG. 2  is an exploded view of the left tooling member of  FIG. 1 ; 
         FIG. 3  is a front view of the left tooling member of  FIG. 1 ; 
         FIG. 4  is a cross-sectional view of the left tooling member, taken across line  4 - 4  in  FIG. 3 ; 
         FIG. 5  is a cross-sectional view of the left tooling member, taken across line  5 - 5  in  FIG. 3 ; 
         FIG. 6  is a cross-sectional view of the top of the left tooling member, taken across line  6 - 6  in  FIG. 3 : 
         FIG. 7  is an exploded view of the right tooling member of the gripper tooling of  FIG. 1 ; 
         FIG. 8  is a front view of the right tooling member; 
         FIG. 9  is a cross-sectional view of the right tooling member, taken across line  9 - 9  in  FIG. 8 ; 
         FIG. 10  is a cross-sectional view illustrating the underside of the right tooling member, taken across line  10 - 10  in  FIG. 8 ; 
         FIG. 11  is a side view of the gripper tooling in an initial position with an example of a cylindrical workpiece; 
         FIG. 12  is a side view of the gripper tooling in an intermediary position with the workpiece as shown in  FIG. 11 ; 
         FIG. 13  is a side view of the gripper tooling in an encapsulation position in which the gripper tooling is gripping the workpiece as shown in  FIG. 11 ; 
         FIG. 14  is a front view of the left tooling member in the encapsulated position; 
         FIG. 15  is a cross-sectional view of the left tooling member in the encapsulated position, taken across line  15 - 15  in  FIG. 14 ; 
         FIG. 16  is a front view of the right tooling member in the encapsulated position; 
         FIG. 17  is a cross-sectional view of the right tooling member in the encapsulated position, taken across line  17 - 17  in  FIG. 16 ; 
         FIG. 18  is a perspective view of another embodiment of a gripper tooling according to the present invention; 
         FIG. 19  is a perspective view of another embodiment of a gripper according to the present invention; 
         FIG. 20  is a perspective view of another embodiment of a gripper according to the present invention; 
         FIG. 21  is a perspective view of another embodiment of a gripper tooling with left and right tooling members having angular jaw travel according to the present invention; 
         FIG. 22  is an exploded view of the left tooling member of the gripper tooling as shown in  FIG. 21 ; 
         FIG. 23  is an exploded view of the right tooling member of the gripper tooling as shown in  FIG. 21 , and 
         FIG. 24  is a side view of the gripper tooling as shown in  FIGS. 21-23  in the encapsulated position. 
     
    
    
     Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate embodiments of the invention and such exemplifications are not to be construed as limiting the scope of the invention in any manner. 
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring now to the drawings, and more particularly to  FIG. 1 , there is shown one embodiment of the gripper tooling mounted to an illustrative gripper with parallel jaw travel  50 , such as the GRH series gripper manufactured by the PHD Corporation. Left tooling member  100  consists of a single gripper “finger” including a base  101  to which is attached a chain of multiple identical articulated segments  110 , capped by an articulated distal segment  120 . A slider  102  attaches left tooling member  100  to the left jaw  51  of gripper  50  with threaded fasteners (not shown, see also  FIG. 11 ). Right tooling member  200  consists of a base  201  to which is attached two gripper fingers comprising multiple identical articulated segments  210 , capped by identical articulated distal segments  220 . A slider  202  attaches right tooling member  200  to the right jaw  52  of gripper  50  with threaded fasteners (not shown). Although the embodiment illustrates similar finger construction for the left and right fingers, it will be understood by one skilled in the art that the articulated segments comprising the left and right fingers can also differ in quantity, overall dimensions, construction, and physical arrangement from those illustrated. It is also understood that left and right fingers need not be of similar construction to one another and that the quantity of fingers present on each tooling member can be varied without affecting the fundamental nature of the invention. 
     Referring now to  FIGS. 2-6 , there is shown the left tooling member  100 . Ribs protruding from the sides of slider  102  are disposed into complementary slots in the base  101  so as to prevent the rotation of the base  101  with respect to the slider and limit the translation of the base  101  in all directions except along the longitudinal axis of slider  102 . A bevel on the forward edge of slider  102  acts to lift any portion of the workpiece that the slider may contact out of the path of the slider as the slider, mechanically fastened to the left jaw  51  of gripper  50 , moves towards the workpiece. 
     The left tooling member  100  may include an adducting tendon  104  having a proximal end connected to the slider  102  and a distal end connected to the distal segment  120 . The adducting tendon  104  may be in the form of a cable  104 . A lower knurled cylindrical cleat  103  may mechanically fasten the proximal end of the cable  104  to the slider  102 . However, in addition or alternatively to such mechanical attachment, the cable  104  may be attached with a suitable adhesive applied between the cable  104  and the slider  102 . The cable  104  may be composed of any desired material. In one embodiment, the cable  104  is a polymer cable which offers the advantages over traditional steel cable of improved resistance to fatigue and corrosion, greater flexibility, improved dissipation of mechanical shock, and lower cost. 
     A set of pulleys  105 , supported by pivot pins  106  pressed into complimentary holes in body  101 , route the motion of cable  104  so that as the proximal end of the cable  104  is pulled by the motion of slider  102  relative to body  101 , cable  104  is drawn through the central passages of articulated segments  110 . Although pulleys  105  are shown as being directly supported by pivot pins  106 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  105  is sufficiently large to allow doing so. 
     Pivot pins  107  pass though complimentary holes in base  101  and segments  110  and  120  to attach common segments  110  to base  101 , to each other, and to distal segment  120 , forming a chain of pinned articulated segments radiating outwards from base  101 . Although segments  110  and segment  120  are shown as being directly supported by pivot pins  107 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pivot hole in the segments and pin  107  when the size of segment is sufficiently large to allow doing so. 
     The upper, distal end of the cable  104  may be mechanically fastened to the distal segment  120  with an upper knurled cylindrical cleat  108 . It is understood that such mechanical attachment could also be affected with a suitable adhesive applied between the cable  104  and the segment  120 . Cable  104  passes over pulleys  109  disposed within each identical segment  110 . In this manner, cable  104 , suitably attached between slider  102  and distal segment  120 , effectively forms the taut adducting tendon  104  located on one side of segment pivot pins  107 . Although pulleys  109  are shown as being directly supported by pivot pins  106  pressed into complimentary holes in segments  110 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  109  is sufficiently large to allow doing so. 
     The left tooling member  100  may include an abducting tendon  111 . An external strip  111  may effectively form the abducting tendon  111 , which is located on the opposing side of pivot pins  107 . The external strip  111  may be composed of a suitable elastomeric material. The distal end of the strip  111  is attached in any desired way, such as thermal or adhesive bonding, into a complimentary groove in distal segment  120 . The proximal end of elastomeric strip  111  is disposed within a complementary slot in body  101  and is attached to body  101  by the clamping action of set-screw  112  or by other suitable thermal or adhesive bonding. The portion of strip  111  between the distal and proximal attached ends is unconstrained and free to stretch or relax. The strip  111  is stretched during installation to create a tension in the strip  111  which acts to pull distal segment  120  toward base  101 . This pull induces a torque in distal segment  120  and common segments  110  which acts to rotate each segment counterclockwise (CCW) with respect to pivot pins  107 . It should be understood by one skilled in the art that strip  111  could be replaced by one or more helical extension springs or a flexible, but non-stretchable tensile member attached to a suitable spring to provide the same function as an elastomeric strip. 
     Bosses  113 , protruding from the sides of common segments  110 , engage complimentary slots  114 , in body  101  and segments  110  to constrain the angle of CCW rotation of the segment pinned to base  101  and each successive pinned segment in the segment chain, relative to the prior segment. Thusly constrained by the action of bosses  113  within slots  114 , the segments cannot rotate CCW about pivots  107  beyond a position in which the segments are in a straight, vertical alignment with one another. 
     Clockwise (CW) rotation of any segment under the influence of an external torque causes additional stretching of strip  111 , with a resulting increase in the torque applied by the strip to the CW rotated segment in this manner, strip  111  functions as an abducting tendon which constantly applies a torque to segments  110  and  120  about pivot pin  107  to restore the segments into straight vertical alignment with one another. Downward motion of adductor cable  104  through the central passages of segments  110  induces a CW torque in segments  110  and  120  that causes the segments to rotate CW about pivot pins  107 , further stretching abductor strip  111 . 
     Pads  115  are suitably bonded into complimentary recesses in segments  110 . Pads  115  are constructed of a material such as a suitable elastomer or a nanodiamond impregnated metal substrate, possessing a high coefficient of static friction, so as to enhance the frictional forces generated between the pad and any surface of the gripped workpiece that the pad might contact. 
     Dimension  20  indicates the orthogonal distance between the center of pivot pin  107  connecting the proximal most common segment  110  to base  101  and the centerline of adductor cable  104 . Dimension  21  indicates the orthogonal distance between the respective pivot pins  107  of the remaining segments and the centerline of cable  104 . Dimension  22  indicates the orthogonal distance between the pivot pins  107  of the remaining segments and the centerline of abductor strip  111 . The CW acting torque about pivot pins  107  applied to the various segments by the tension in adductor cable  104  is equal to the product of the tension in the cable and the orthogonal distance between the respective pivot pin and the centerline of the adductor cable  104  in an analogous manner, the CCW acting torque about pivot pins  107  applied to the various segments by the tension in abductor strip  111  is equal to the product of the tension in the strip and the orthogonal distance between the respective pivot pin and the centerline of the abductor strip. It will be evident to one skilled in the art that as the tension in cable  104  when pulled upon is constant along the entire length of the cable, only the orthogonal distance between the center of the respective pivot pin  107  and cable centerline needs be varied to control the torque applied by cable  104  to any given segment. It will also be evident that the local tension in abductor strip  111  is a function of the cross-sectional area of the strip at that locality, so that the local tension in the strip can be controlled by selectively varying the cross-sectional area of strip  111  along the length of the strip. Therefore, the net torque acting on any given segment can be chosen by controlling the local cross-sectional area of strip  111 , the distance between the respective pivot pin  107  of the segment and the centerline of abductor strip  111 , and the distance between the respective pivot pin  107  of the segment and the centerline of adductor cable  104 . It will also be evident that in the absence of any external torques acting upon the segments, the segment with the greatest net applied CW torque will rotate toward the workpiece first, with each remaining segment successively rotating in descending order of net applied CW torque. 
     The cleat  108  mechanically fastens the distal end of adductor cable  104  to distal segment  120 . Cleat  108  is comprised of central cylinder  108 C the outer diameter of which receives a straight knurl or other friction enhancing treatment such as a nanodiamond impregnated plating. Bosses  108 A and  108 B flank central cylinder  108 C ( FIG. 2 ). 
     After installation of the cleat  108  into distal segment  120 , the surface of boss  108 A rests against complimentary surface  120 A in the cleat cavity within segment  120 , while the surface of boss  108 B similarly rests against complimentary surface  120 B. A complimentary relief  120 C forms a cleat cavity  120 C within segment  120  to prevent any portion of the central cylinder  108 C of cleat  108  from contacting any portion of segment  120  ( FIGS. 2 and 6 ). Central cylinder  108 C is free to contact the surface of cable  104  which is pressed into contact with surface  120 D of segment  120  by the action of central cylinder  108 C. Angle  26  denotes the angle formed by surfaces  120 A and  120 B and cable contact surface  120 D in segment  120 . Angle  26  is chosen to be shallow, in the range of 10 to 30 degrees. Arrow  27  indicates the force applied to cleat central cylinder  108 A to install cleat  108  into cleat cavity  120 C of distal segment  120 . While cable  104  is held taut, Force  27  is applied to the left of the axis of central cylinder  108 C as cleat  108  is guided into the mouth of recess  120 C, causing the surface of cylinder  108 C to roll CCW against the surface of cable  104  while surfaces  108 A and  108 B slide against surfaces  120 A and  120 B, respectively. The acute nature of angle  26  creates a wedging action which decreases the space between surfaces  120 A and  120 B and  120 D as cleat  108  moves progressively into recess  120 C. This decrease in space progressively compresses cable  104  between the surface of cleat central cylinder  108 C and surface  120 D of segment  120  as the cleat  108  rolls along the surface of the cable  104 , until the cable  104  becomes completely jammed against surface  120 D, stopping the entry of the cleat  108  into recess  120 C. Arrow  28  indicates the direction of external tension in cable  104  as the cable is pulled by the action of slider  102  ( FIGS. 2, 4, and 6 ). Tension applied in the direction of arrow  28  causes cleat  108  to rotate CW, with surfaces  108 A and  108 B rolling against surfaces  120 A and  120 B, respectively, which causes further compression of cable  104  against surface  120 C by cylinder  108 C. In this manner, any external tension applied to cable  104  in the direction of arrow  28  acts to proportionally increase the jamming force applied by cleat  108  against cable  104  to retain cable  104  against surface  120 D. 
     It is understood that the same wedging mechanism used by cleat  108  to retain the distal end of cable  104  within distal segment  120  is also used to by the lower cleat  103  to retain the proximal end of cable  104  in slider  102 . 
     Referring now to  FIGS. 7-10 , there is shown the right tooling member  200 . Ribs protruding from the sides of slider  202  are disposed into complementary slots in base  201  so as to prevent the rotation of the base  201  with respect to the slider and limit the translation of base  201  in all directions except along the longitudinal axis of slider  202 . A bevel on the forward edge of slider  202  acts to lift any portion of the workpiece that the slider may contact out of the path of the slider as the slider, mechanically fastened to the right jaw  52  of gripper  50 , moves towards the workpiece. 
     Pivot pins  207  pass though complimentary holes in base  201  and segments  210  and  220  to attach common segments  210  to base  201 , to each other, and to distal segment  220 , forming two chains of pinned articulated segments radiating outwards from base  201 . Although segments  210  and segment  220  are shown as being directly supported by pivot pins  207 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pivot hole in the segments and pin  207  when the size of segment is sufficiently large to allow doing so. 
     The right tooling member  200  may include an adducting tendon  204  having a proximal center portion connected to the slider  202  and distal ends connected to the distal segments  220 . The adducting tendon  204  may be in the form of a cable  204 . The proximal center portion of cable  204  is routed around pulleys  216  which are supported by pivot pins  206  pressed into complimentary holes in slider  202 . In one embodiment cable  204  is a polymer cable which offers the advantages over traditional steel cable of improved resistance to fatigue and corrosion, greater flexibility, improved dissipation of mechanical shock, and lower cost. Pulleys  205 , supported by pivot pins  206  pressed into complimentary holes in body  210 , route the motion of each end of cable  204  so that as the proximal center of the cable  204  is pulled by the motion of slider  202  relative to body  201 , each end of cable  204  is drawn through the central passages of articulated segments  210  of one of the two segment chains. Although pulleys  205  are shown as being directly supported by pivot pins  206 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  205  is sufficiently large to allow doing so. 
     Each distal end of cable  204  can be mechanically fastened to distal segment  220  of one segment chain with knurled cylindrical cleat  208 . It is understood that such mechanical attachment could also be affected with a suitable adhesive applied between the cable  204  and the segment  220 . It is further understood that the same wedging mechanism used by cleat  108  to retain the distal end of cable  104  within distal segment  120  is also used to by cleats  208  to retain each distal end of cable  204  in distal segments  220 . 
     Cable  204  passes over pulleys  209  disposed within each identical segment  210 . In this manner, each side of cable  204 , suitably attached between slider  202  and distal segment  220 , effectively forms a taut adducting tendon located on one side of segment pivot pins  207 . Although pulleys  209  are shown as being directly supported by pivot pins  206  pressed into complimentary holes in segments  210 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  209  is sufficiently large to allow doing so. 
     It is desirable that each of the two segment chains of tooling member  200  may contact and conform to the profile of a gripped workpiece independently of one another. Such independent conformance assists during the gripping of workpieces possessing a plurality of asymmetric profiles by maximizing the number of contact points between the tooling and workpiece. The articulated motion of any segment chain ceases when that chain fully conforms to the profile of the gripped workpiece, causing motion of the end of cable  204  attached to the fully conformed segment chain to correspondingly cease and become stationary. The ability of cable  204  to laterally translate across pulleys  216 , as denoted by arrow  17  in  FIG. 10 , subsequently allows the length of the cable to shift from the free end to the stationary end, allowing the free end of cable  204  to continue to be pulled by the action of slider  202  translating relative to body  201 . Once both segments chains have completely conformed to the workpiece, the ability of cable  204  to translate laterally across pulleys  216  further provides a way of equalizing the tension between the two ends of the cable  204 . 
     The strip  211 , constructed of a suitable elastomeric material, effectively forms an abducting tendon located on the opposing side of pivot pins  207 . The distal end of strip  211  is attached by suitable means, such as thermal or adhesive bonding, into a complimentary groove in distal segment  220 . The proximal end of elastomeric strip  211  is disposed within a complementary slot in body  201  and is attached to body  201  by the clamping action of set-screw  212  or by other suitable thermal or adhesive bonding. The portion of strip  211  between the distal and proximal attached ends is unconstrained and free to stretch or relax. The strip  211  is stretched during installation to create a tension in the strip which acts to pull distal segment  220  toward base  201 . This pull induces a torque in distal segment  220  and common segments  210  which acts to rotate each segment CW with respect to pivot pins  207  ( FIG. 9 ). It should be understood by one skilled in the art that the strip  211  could be replaced by one or more helical extension springs or a flexible, but non-stretchable tensile member attached to a suitable spring to provide the same function as an elastomeric strip. It should be appreciated that the orientation of member  200  is reversed in  FIG. 7  when compared to  FIG. 9 . 
     Bosses  213 , protruding from the sides of common segments  210 , engage complimentary slots  214 , in body  201  and segments  210  to constrain the angle of CW rotation of the segment pinned to base  201  and each successive pinned segment in the segment chain, relative to the prior segment. Thusly constrained by the action of bosses  213  within slots  214 , the segments cannot rotate CW about pivots  207  beyond a position in which the segments are in a straight, vertical alignment with one another. 
     CCW rotation of any segment under the influence of an external torque causes additional stretching of strip  211 , with a resulting increase in the torque applied by the strip to the CCW rotated segment. In this manner, strip  211  functions as an abducting tendon which constantly applies a torque to segments  210  and  220  about pivot pin  207  to restore the segments into straight vertical alignment with one another. Downward motion of adductor cable  204  through the central passages of segments  210  induces a CCW torque in segments  210  and  220  that causes the segments to rotate CCW about pivot pins  207 , further stretching abductor strip  211 . 
     Pads  215  are suitably bonded into complimentary recesses in segments  210 . Pads  215  are constructed of a material such as a suitable elastomer or a nanodiamond impregnated metal substrate, possessing a high coefficient of static friction, so as to enhance the frictional forces generated between the pad and any surface of the gripped workpiece that the pad might contact. 
     Dimension  23  indicates the orthogonal distance between the center of pivot pin  107  connecting the proximal most common segment  210  to base  201  and the centerline of adductor cable  204 . Dimension  24  indicates the orthogonal distance between the respective pivot pins  207  of the remaining segments and the centerline of cable  204 . Dimension  25  indicates the orthogonal distance between the pivot pins  207  of the remaining and the centerline of abductor strip  211 . In analogous manner to member  100 , the cross-sectional area of corresponding abductor strip  211  and orthogonal distances between the pivot pins  207  and centerlines of strip  211  and abductor cable  204  can be similarly chosen to control the rotational order of each segment chain. 
     Referring now to  FIGS. 11-13 , there is shown the gripper tooling in its sequence operation as the gripper tooling engages an example of a workpiece  30 . In  FIG. 11 , the left jaw  51  and right jaw  52  move the left tooling member  100  and the right tooling member  200  toward cylindrical workpiece  30 , in the direction of arrows  12  and  13 , respectively. During this motion, the segments comprising the left tooling member  100  and the right tooling member  200  are held in straight vertical alignment by the tension of the stretched elastomeric strips  111  and  211 , respectively. So long as all segments are vertically aligned, cables  104  and  204  remain taut, which prevents any relative motion between sliders  102  and base  101  and slider  202  and base  201 , as any relative motion between the sliders and bases require CW rotation of segments about pivot pins  107  or CCW rotation of the segments about pivot pins  207  (see also  FIGS. 4 and 9 ). The bases  101  and  201  therefore move in conjunction with respective sliders  102  and  202 , as denoted by arrows  14  and  15 , respectively. 
       FIG. 12  shows tooling members  100  and  200  at the moment of initial contact with the workpiece  30 . As pad  115  on segment  110  contacts workpiece  30 , the finger formed by segments  110  and distal segment  120  pinned together by pivot pins  107  is brought to rest. Base  101  is also brought to rest by the action of segment  110  acting through the pinned connection to base  101  established by pivot pin  107 . However, slider  102  remains free to translate under the influence of jaw  51 , to which it is fastened, as denoted by arrow  12 . In an analogous manner, as pad  215  on segment  210  contacts workpiece  30 , the finger formed by segments  210 , distal segments  220 , and pivot pins  207  is brought to rest by contact with workpiece  30 . Base  201  is brought to rest by the action of segment  210  acting through the pinned connection to base  201  established by pivot pin  207 , while slider  202  remains free to translate under the influence of jaw  52 , as denoted by arrow  13 . 
     Referring now collectively to  FIGS. 11-17 , there is shown the tooling members  100  and  200  gripping the workpiece  30 . Once base  101  is brought to rest by the segment chain, including segments  110  and  120  and pins  107 , acting against workpiece  30 , slider  102  continues to translate under the action of gripper jaw  51 , relative to stationary base  101 . Such relative motion pulls adductor cable  104 , routed around pulleys  105 , downward through the central passages of segments  110 . Downward motion of cable  104  induces a CW torque in segments  110  and  120  that causes the segments to rotate CW in the direction of arrow  16  about pivot pins  107 , stretching abductor strip  111  and forcing pads  115  bonded to segments  110  and strip  111  bonded onto distal segment  120  into conformal contact with the surface of workpiece  30 . 
     Once base  201  is brought to rest by either segment chain, including segments  210  and  220  and pins  207 , contacting the workpiece  30 , slider  202  continues to translate under the action of gripper jaw  52 , relative to stationary base  201 . Such relative motion pulls adductor cable  204 , routed around pulleys  205 , downward through the central passages of segments  210 . Downward motion of cable  204  induces a CCW torque in segments  210  and  220  that causes the segments to rotate CCW in the direction of arrow  17  about pivot pins  207 , stretching abductor strip  211  and forcing pads  215  bonded to segments  210  and strip  211  bonded onto distal segment  220  into conformal contact with the surface of workpiece  30 . 
     Referring now to  FIGS. 15 and 17 , there is shown the tooling members  100 ,  200  in the actuated, encapsulating position. The small black arrows denote both the direction of motion and the direction of the corresponding motive tension of adductor cables  104 ,  204  as the cables  104 ,  204  are drawn through the respective central passages of segments  110 ,  210 . 
     In one form of the embodiment, the cross-sectional area of strip  111  is kept constant along the length of the strip and orthogonal distance  22  is kept constant for all segments while the value of orthogonal distance  20  for the proximal most segment  110  pinned to base  101  is chosen to be greater than the value of distance  21  for the remainder of the segments. The cross-sectional area of strip  211  is chosen to match that of strip  111  and the values for the orthogonal distances  23 ,  24 , and  25  are chosen to match the values chosen for distances  20 ,  21 , and  22 , respectively. 
     This form increases the force applied to the gripped workpiece by the proximal most segments  110  and  210  while reducing the forces applied to the workpiece by the remaining segments. Concentrating the force distribution toward the proximal end of the segment chains provides the advantage of reducing the moments generated about sliders  102  and  202 , by the finger chains during gripping, reducing the reaction forces between the bases and sliders and the frictional losses that arise from these reaction forces which reduce the efficiency of the gripper. 
     In another form of the embodiment, the cross-sectional area of strips  111  and  211  is progressively reduced from the proximal end to the distal end of each strip and orthogonal distances  22  and  25  are kept equal for all segments. The values of orthogonal distances  20  and  23  for the proximal most segments are made equal to values for distances  21  and  24  for the remainder of the segments. 
     This form causes the distal segments  120  and  220  to rotate first when the segment chain contacts the workpiece, with the remainder of the respective segment chains rotating in succession from the distal most to the proximal most segments. This manner of progressive distal to proximal rotation provides the advantage of pushing the contacted work-piece progressively toward the gripper, so that the gripped work-piece rests as closely as possible to the gripper. 
     It will also be apparent that the same manner of progressive distal to proximal segment rotation can be accomplished by choosing the values for orthogonal distances  20  and  23  for the proximal most segments to be less than the values of distances  21  and  24  for the remainder of the segments, with the local values of distances  21  and  24  progressively increasing from the proximal end to the distal end of each respective segment chain. This proximal to distal progression of pivot pin to adductor cable spacing can be performed either independently or in conjunction with the proximal to distal cross-sectional tapering of abductor strips  111  and  211 . 
     Referring now to  FIG. 18 , there is shown another embodiment of a gripper tooling in which the tooling members  100  and  200  upon gripper  50  are juxtaposed. This form provides for gripping during the opening, rather than the closing, of the gripper jaws  51  (not shown) and  52 . Such a manner of gripping is desirable when the workpiece is hollow such as a pipe, hoop or torus and needs to be gripped from the interior opening. 
     In another embodiment of the present invention, a magnet is added to sliders  102  and  202  and a magnet sensing switch is added to bases  101  and  201 , allowing each switch to detect the position of the respective slider relative to the respective base. Detecting relative motion between each respective slider and base provides a desirable means of electronically communicating the onset of contact between each tooling member and the gripped workpiece. This allows the gripper jaws  51 ,  52  to move rapidly toward the workpiece, but then slow down to allow for a more precise gripping and/or for the gripping force to be limited until contact with a workpiece is detected and/or verified to be in a desired location in order to enhance operational concerns. 
     Referring now to  FIGS. 19-20 , there is shown another embodiment of the present invention which includes left and right tooling members  300 ,  400 . The segment chains are chosen to resemble the number, size, shape, and physical proportions of a representative human finger or thumb. Right tooling member  300  comprises a single segment chain while left tooling member  400  comprises two or more segment chains. The segment chain of tooling member  300  can be chosen to comprise a proximal  330 , middle  340  and distal segment  350  to resemble a human finger or only a proximal  330  and distal  350  segment to resemble a human thumb. Each segment chain of tooling member  400  comprises a proximal  430 , middle  440  and distal segment  450  to resemble a human finger. 
     Referring now to  FIGS. 21-24 , there is shown another embodiment of the present invention which is configured to mount to an illustrative gripper with angular jaw travel  70 , such as the GRB series gripper manufactured by the PHD Corporation. Left tooling member  500  generally includes a single finger having a base  501  to which is attached a chain of multiple identical articulated segments  510 , capped by articulated distal segment  520 . Rotor  502  attaches left tooling member  500  to the left jaw  71  of gripper  70  with threaded fasteners  73  (not shown in  FIG. 21 ). Right tooling member  600  generally includes a base  601  to which is attached two fingers having multiple identical articulated segments  610 , capped by identical articulated distal segments  620 . Rotor  602  attaches right tooling member  600  to the right jaw  72  of gripper  70  with threaded fasteners  73  (only one of two is shown in  FIG. 21 ). Although the present embodiment illustrates similar finger construction for the left and right fingers, it should be appreciated by one skilled in the art that the articulated segments having the left and right fingers can also differ in quantity, overall dimensions, construction, and physical arrangement from those illustrated. It is also understood that left and right fingers need not be of similar construction to one another and that the quantity of fingers present on each tooling member can be varied without affecting the fundamental nature of the invention. 
     Referring now to  FIG. 22 , there is shown the left tooling member  500 . The pins  517  pass through complimentary holes in base  501  and are pressed into complementary holes in rotor  502  so as to allow the rotation of the rotor  502  with respect to the base  501  while preventing the translation of base  501  with respect to rotor  502 . Complimentary countersunk holes in rotor  502  allow the rotor to be mechanically fastened with threaded fasteners  73  (not shown in  FIG. 22 ) to the left jaw  71  of gripper  70 . Rotor  502  includes a rotor body  560  and a plurality of legs  562  extending from rotor body  560 , rotor body  560  being fixedly connected to, and thereby configured for rotating with, left jaw  71 . 
     The left tooling member  500  may include an adducting tendon  504  having a proximal end connected to the rotor  502  and a distal end connected to the distal segment  520 . The adducting tendon  504  may be in the form of a cable  504 . The cylindrical cleat  518  mechanically fastens the proximal end of the cable  504  to rotor  502  by compressing the cable  504  against cleat plate  519 , the vertical sides of which are disposed within complimentary slots within rotor  502 . The cylindrical ends of cleat  518  are suitably retained within angled complimentary slots within rotor  502 . In this manner, cable  502  is held frictionally captured by the action of cleat  518  against plate  519  it should be appreciated that such mechanical attachment could also be affected with a suitable adhesive applied between the cable and the rotor. In one embodiment, the cable  504  is a polymer cable which offers the advantages over traditional steel cable of improved resistance to fatigue and corrosion, greater flexibility, improved dissipation of mechanical shock, and lower cost. Pulleys  505 , supported by pivot pins  521  pressed into complimentary holes in body  501 , route the motion of cable  504  so that as the proximal end of the cable is pulled by the rotation of rotor  502  relative to body  501 , cable  504  is drawn through the central passages of articulated segments  510 . Although pulleys  505  are shown as being directly supported by pivot pins  506 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  505  is sufficiently large to allow doing so. 
     Pivot pins  507  pass though complimentary holes in base  501  and segments  510  and  520  to attach common segments  510  to base  501 , to each other, and to distal segment  520 , forming a chain of pinned articulated segments radiating outwards from base  501 . Although segments  510  and segment  520  are shown as being directly supported by pivot pins  507 , it should be appreciated that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pivot hole in the segments and pin  507  when the size of segment is sufficiently large to allow doing so. 
     The distal end of cable  504  is mechanically fastened to distal segment  520  with knurled cylindrical cleat  508 . However, it should be appreciated that such mechanical attachment could also be affected with a suitable adhesive applied between the cable and the segment. Cable  504  passes over pulleys  509  disposed within each identical segment  510 . In this manner, cable  504 , suitably attached between rotor  502  and distal segment  520 , effectively forms a taut adducting tendon located on one side of segment pivot pins  507 . Although pulleys  509  are shown as being directly supported by pivot pins  506  pressed into complimentary holes in segments  510 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  509  is sufficiently large to allow doing so. 
     The strip  511 , constructed of a suitable elastomeric material, effectively forms an abducting tendon located on the opposing side of pivot pins  507 . The distal end of strip  511  is attached by suitable means, such as thermal or adhesive bonding, into a complimentary groove in distal segment  520 . The proximal end of elastomeric strip  511  is disposed within a complementary slot in body  501  and is attached to body  501  by the clamping action of set-screws  512  or by other suitable thermal or adhesive bonding. The portion of strip  511  between the distal and proximal attached ends is unconstrained and free to stretch or relax. Strip  511  is stretched during installation to create a tension in the strip which acts to pull distal segment  520  toward base  501 . This pull induces a torque in distal segment  520  and common segments  510  which acts to rotate each segment counterclockwise (CCW) with respect to pivot pins  507 . It should be appreciated that the strip  511  could be replaced by one or more helical extension springs or a flexible, but non-stretchable tensile member attached to a suitable spring to provide the same function as an elastomeric strip. 
     The bosses  513 , protruding from the sides of common segments  510 , engage complimentary slots  514 , in body  501  and segments  510  to constrain the angle of CCW rotation of the segment pinned to base  501  and each successive pinned segment in the segment chain, relative to the prior segment. Thusly constrained by the action of bosses  513  within slots  514 , the segments cannot rotate CCW about pivots  507  beyond a position in which the segments are in a straight, vertical alignment with one another. 
     Clockwise (CW) rotation of any segment under the influence of an external torque causes additional stretching of strip  511 , with a resulting increase in the torque applied by the strip to the CW rotated segment. In this manner, strip  511  functions as an abducting tendon which constantly applies a torque to segments  510  and  520  about pivot pin  507  to restore the segments into straight vertical alignment with one another. Downward motion of adductor cable  504  through the central passages of segments  510  induces a CW torque in segments  510  and  520  that causes the segments to rotate CW about pivot pins  507 , further stretching abductor strip  511 . 
     The pads  515  are suitably bonded into complimentary recesses in segments  510 . Pad  522  is suitably bonded into a complimentary recess in base  501 . The pads  515  and  522  are constructed of a material such as a suitable elastomer or a nanodiamond impregnated metal substrate, possessing a high coefficient of static friction, so as to enhance the frictional forces generated between the pad and any surface of the gripped workpiece that the pad might contact. 
     In an analogous manner to the cleat  108  mechanically fastening the distal end of cable  104  onto segment  120 , the cleat  508  fastens the distal end of cable  504  onto segment  520 . It should be appreciated that the same wedging action used by the cleat  108  to retain the distal end of cable  104  within distal segment  120  is also used by the cleat  518  to retain the proximal end of cable  504  in rotor  502 . 
     Referring now to  FIG. 23 , there is shown the right tooling member  600 . The pins  617  pass through complimentary holes in base  601  are pressed into complementary holes in rotor  602  so as to allow the rotation of the rotor with respect to the base while preventing the translation of base  601  with respect to rotor  602 . Complimentary countersunk holes in rotor  602  allow the rotor to be mechanically fastened with threaded fasteners  73  (not shown in  FIG. 23 ) to the right jaw  72  of gripper  70 . 
     Pivot pins  607  pass though complimentary holes in base  601  and segments  610  and  620  to attach common segments  610  to base  601 , to each other, and to distal segment  620 , forming two chains of pinned articulated segments radiating outwards from base  601 . Although segments  610  and segment  620  are shown as being directly supported by pivot pins  607 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pivot hole in the segments and pin  607  when the size of segment is sufficiently large to allow doing so. 
     The right tooling member  600  may include an adducting tendon  604  having a proximal end connected to the rotor  602  and a distal end connected to the distal segment  620 . The adducting tendon  604  may be in the form of a cable  604 . The proximal center portion of cable  604  is routed around pulleys  616  which are supported by pivot pins  606  pressed into complimentary holes in rotor  602 . In one embodiment, the cable  604  is a polymer cable which offers the advantages over traditional steel cable of improved resistance to fatigue and corrosion, greater flexibility, improved dissipation of mechanical shock, and lower cost. The pulleys  605 , supported by pivot pins  621  pressed into complimentary holes in body  610 , route the motion of each end of cable  604  so that as the proximal center of the cable is pulled by the motion of rotor  602  relative to body  601 , each end of cable  604  is drawn through the central passages of articulated segments  610  of one of the two segment chains. Although pulleys  605  and  616  are shown as being directly supported by pivot pins  621  and  606  respectively, it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  605  and/or  616  is sufficiently large to allow doing so. 
     Each distal end of cable  604  can be mechanically fastened to distal segment  620  of one segment chain with knurled cylindrical cleat  608 . It should be appreciated that such mechanical attachment could also be affected with a suitable adhesive applied between the cable and the segment. It should be further appreciated that the same wedging mechanism used by the cleat  508  to retain the distal end of cable  504  within distal segment  520  is also used to by the cleats  608  to retain each distal end of cable  604  in distal segments  620 . 
     Cable  604  passes over pulleys  609  disposed within each identical segment  610 . In this manner, each side of cable  604 , suitably attached between rotor  602  and distal segment  620 , effectively forms a taut adducting tendon located on one side of segment pivot pins  607 . Although pulleys  609  are shown as being directly supported by pivot pins  606  pressed into complimentary holes in segments  610 , it is understood that a suitable commercial bearing bushing, radial ball bearing, or needle bearing could be interposed between the pulley and pin when the size of pulley  609  is sufficiently large to allow doing so. 
     It may be desirable that each of the two segment chains of tooling member  600  may contact and conform to the profile of a gripped workpiece independently of one another. Such independent conformance assists during the gripping of workpieces possessing a plurality of asymmetric profiles by maximizing the number of contact points between the tooling and workpiece. The articulated motion of any segment chain ceases when that chain fully conforms to the profile of the gripped workpiece, causing motion of the end of cable  604  attached to the fully conformed segment chain to correspondingly cease and become stationary. The ability of the cable  604  to laterally translate across pulleys  616  subsequently allows the length of the cable to shift from the free end to the stationary end, allowing the free end of cable  604  to continue to be pulled by the action of rotor  602  rotating relative to body  601 . Once both segments chains have completely conformed to the workpiece, the ability of cable  604  to translate laterally across pulleys  616  further provides a way of equalizing the tension between the two ends of the cable  604 . 
     The strip  611 , constructed of a suitable elastomeric material, effectively forms an abducting tendon located on the opposing side of pivot pins  607 . The distal end of strip  611  is can be attached by any desired fastener or adhesive, such as thermal or adhesive bonding, into a complimentary groove in distal segment  620 . The proximal end of elastomeric strip  611  is disposed within a complementary slot in body  601  and is attached to body  601  by the clamping action of set-screws  612  or by other suitable thermal or adhesive bonding. The portion of strip  611  between the distal and proximal attached ends is unconstrained and free to stretch or relax. Strip  611  is stretched during installation to create a tension in the strip which acts to pull distal segment  620  toward base  601 . This pull induces a torque in distal segment  620  and common segments  610  which acts to rotate each segment CW with respect to pivot pins  607 . It will be understood by one skilled in the art that strip  611  could be replaced by one or more helical extension springs or a flexible, but non-stretchable tensile member attached to a suitable spring to provide the same function as an elastomeric strip. 
     The bosses  613 , protruding from the sides of common segments  610 , engage complimentary slots  614 , in body  601  and segments  610  to constrain the angle of CW rotation of the segment pinned to base  601  and each successive pinned segment in the segment chain, relative to the prior segment. Thusly constrained by the action of bosses  613  within slots  614 , the segments cannot rotate CW about pivots  607  beyond a position in which the segments are in a straight, vertical alignment with one another. 
     CCW rotation of any segment under the influence of an external torque causes additional stretching of strip  611 , with a resulting increase in the torque applied by the strip to the CCW rotated segment. In this manner, strip  611  functions as an abducting tendon which constantly applies a torque to segments  610  and  620  about pivot pin  607  to restore the segments into straight vertical alignment with one another. Downward motion of adductor cable  604  through the central passages of segments  610  induces a CCW torque in segments  610  and  620  that causes the segments to rotate CCW about pivot pins  607 , further stretching abductor strip  611 . It should be appreciated that the orientation of member  600  is reversed in  FIG. 23  when compared to  FIG. 24 . 
     The pads  615  are suitably bonded into complimentary recesses in segments  610 . The pad  622  is suitably bonded into a complimentary recess in base  601 . The pads  615  and  622  are constructed of a material such as a suitable elastomer or a nanodiamond impregnated metal substrate, possessing a high coefficient of static friction, so as to enhance the frictional forces generated between the pad and any surface of the gripped workpiece that the pad might contact. 
     Referring now specifically to  FIG. 24 , there is shown the tooling members  500  and  600  gripping the example of the cylindrical workpiece  30 . Once the base  501  is brought to rest by contact of pad  522  with workpiece  30 , rotor  502  continues to rotate in the direction of arrow  29 L under the action of gripper jaw  71 , relative to stationary base  501 . Such relative motion pulls adductor cable  504 , routed around pulleys  505 , downward through the central passages of segments  510 . Downward motion of the cable  504  induces a CW torque in segments  510  and  520  that causes the segments to rotate CW in the direction of arrow  31  about pivot pins  507 , stretching abductor strip  511  and forcing pads  515  bonded to segments  510  and strip  511  bonded onto distal segment  520  into conformal contact with the surface of workpiece  30 . 
     Once base  601  is brought to rest by contact of pad  622  with workpiece  30 , slider  602  continues to rotate in the direction of arrow  29 R under the action of gripper jaw  72 , relative to stationary base  601 . Such relative motion pulls adductor cable  604 , routed around pulleys  605 , downward through the central passages of segments  610 . Downward motion of cable  604  induces a CCW torque in segments  610  and  620  that causes the segments to rotate CCW in the direction of arrow  32  about pivot pins  607 , stretching abductor strip  611  and forcing pads  615  bonded to segments  610  and strip  611  bonded onto distal segment  620  into conformal contact with the surface of workpiece  30 . The motive tension of each adductor cable  504 ,  604  as the cable  504 ,  604  is drawn through the respective central passage of segments  510 ,  610  is directed downwardly. 
     While this invention has been described with respect to at least one embodiment, the present invention can be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.