Articulated grasping apparatus

摘要

A grasping apparatus (10) has multiple fingers (64) joined within slots (56) in the face of a moving piston (50) within a fluid cylinder (20). As the piston (50) moves, cams (62) joined to the fingers (64) are rotated so as to close or open the fingers (64) which are radially mounted. Once actuated the piston (50) is returned to its relaxed position by a spring (70) when fluid pressure is released.