Robot arm end effector

摘要

A robot arm end effector in the form of a multi-fingered hand having a conformable grasp. Each articulating finger includes multiple phalanges sequentially interconnected by pivot points such that each finger articulates in one plane. One filament pair, which controls finger articulation within the plane, is routed through a respective finger by a system of pulleys and is controlled by a DC motor. Driving the associated motor in a first direction causes a respective finger to articulate in a first direction within the plane. Reversing the motor direction causes the respective finger to articulate in a second direction within the plane. Individual phalanges articulate independently of the motion of adjacent phalanges. A second filament pair may be employed to pivot a respective finger about a base axis resulting in out of plane motion of the finger.