Abstract: A robotic hand (10,36) for batch pickup of articles (12,38) arranged in an array of columns and rows includes a plate (14,40) having a plurality of article-receiving passages (16,42) therethrough. Each article (12,38) is captured within separate one of the passage (16,42) by at least one gripping member (18,44,46) which includes a strip (20,48,52) having a depending finger (22,50,54) extending into the passage. The gripping member is moved to capture the article (12,38) therein between the finger and the passage wall. The gripping members (18,44,46) are pivotally connected to rotary actuators (26,64) by linkage bars (32,58,62) which displace the gripping members (18,44,46) across the plate (14,40) to capture each article (12,38) within a corresponding plate passages (16,42).

Abstract: An articulated robot arm (10) comprises n arm sections (13, 16, 18, 21) pivotally mounted one to the other. A plurality of independently controlled servomotors (12, 14, 17, 19) at each of the arm joints moves the tip (22) of the arm towards the desired location. All arm angles are measured with respect to a common reference plane, e.g. the horizon.