Patent ID: 8894118

Claim:
A device for gripping an object comprising: a main body including a first actuator bore, a second actuator bore, a first pin slot located transversely to said first actuator bore, and a second pin slot located transversely to said second actuator bore; a first elongate actuator disposed within said first actuator bore of said main body and including a first traverse hole; a second elongate actuator disposed within said second actuator bore of said main body and including a second transverse hole, said first elongate actuator and said second elongate actuator configured to translate opposingly to one another within said first actuator bore and said second actuator bore, respectively; a first jaw driven by said first elongate actuator; a second jaw driven by said second elongate actuator; a first pin comprising a first pin body defining a first channel, said first pin configured to drive said first jaw by said first elongate actuator and disposed through said first transverse hole and said first pin slot; a second pin comprising a second pin body defining a second channel, said second pin configured to drive said second jaw by said second elongate actuator and disposed through said second transverse hole and said second pin slot; a pair of pulleys attached to said main body; and a cable forming a closed loop around said pair of pulleys through said first channel and said second channel, said cable being affixed to said first channel to inhibit relative movement between said cable and said first channel.