ROLLING-CONTACT JOINT MECHANISMS AND METHODS

摘要

The embodiments described herein can advantageously be used in a wide variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first tool member, a second tool member, a base, and an actuator assembly. The first tool member has a first convex surface, and the second tool member has a second convex surface. The first tool member is positioned to rotate relative to the base, and the second tool member is positioned to rotate relative to the base. The base includes a base convex surface. The actuator assembly is configured to maintain the first convex surface in rolling contact with a first portion of the base convex surface. The actuator assembly configured to maintain the second convex surface in rolling contact with a second portion of the base convex surface. Guide surfaces are added to limit disengagement between the base and a tool member.