Patent ID: 7014235

Claim:
A method for gripping objects by means of a robotic gripper mechanism, wherein the gripper mechanism comprises gripping jaws, a wedge actuator between the gripping jaws, wherein the wedge actuator moves the gripping jaws together and apart as it slides backward and forward, and a motor that moves the wedge actuator by means of a connecting leadscrew, the method comprising the steps of: applying current to the motor, wherein the motor begins rotating before the gripper mechanism makes contact with an object; and in response to contacting an object, gripping the object with the gripper jaws, wherein inertia from the rotating mass of the motor and leadscrew increases the force and speed of the gripping action, wherein the robotic gripper mechanism further comprises a nut connecting the leadscrew and wedge, and wherein the nut applies pressure to the wedge.