Patent ID: 8702142

Claim:
A grip mechanism for an end effector, the end effector including an effector body having a first end, a second end opposite the first end and a proximal side extending between the first and second ends, the end effector operative to handle an object disposed within a retaining region and having a first surface facing toward the proximal side and a second surface opposite the first surface, the grip mechanism comprising: a grip member configured to be coupled to the effector body and including a gripper, wherein the grip member is movable in a first direction away from the first end toward the second end and wherein a first portion of the grip member is moveable relative to the effector body along a first travel path based on movement of the grip member in the first direction; and a grip guide operatively coupled to the grip member, wherein the grip guide is configured to guide a movement of a second portion of the grip member along a second travel path based on movement of the grip member in the first direction, wherein the grip member and grip guide are configured such that the gripper is movable to a first engagement position along a first engagement path based upon movement of the first and second portions along the first and second travel paths, the first engagement path extending away from the proximal side of the effector body and toward the retaining region, and wherein, at the first engagement position, the gripper is configured to contact the second surface of the object disposed within the retaining region.