| 摘要 |
A robotic gripper module, which can be fitted to a robotic arm or other support, houses a rotor which is rotatable relative to the frame of the module. The rotor has at least two equiangularly positioned slots, each extending at the same relative angle to a radius of the rotor. A cam follower mounted on radially-moveable slide members is positioned in each of those slots and also in a respective radial slot in the module frame, and rotation of the rotor causes the cam followers and slide members, on which finger assemblies may be mounted, to move together radially inwardly or outwardly on the frame. An arcuate gear segment on the periphery of the rotor meshes with a gear rack on one end of a rod; the other end of the rod connects to a piston-and-cylinder actuator. In one form of the module two rotors rotate on a single axle, one on each side of the module. The two rods associated with the two rotors extend from opposite sides of the cylindrical space between the rotors, and the pair of associated actuators are positioned outside that space. This arrangement allows for a thin module with a significant space saving over other robotic modules.
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