Robotic grasping apparatus.

摘要

A robotic grasping manipulator includes a support base (4), a fixed elongate index finger (70) which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip (76), and a two-degree of freedom elongate thumb (8) pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end (64) which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger (100) pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end (108). The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers. With the two-degree of freedom movement of the thumb and the one-degree of freedom movement of the moveable finger, a variety of different shaped objects may be grasped and held between the two fingers and thumb. <IMAGE>