Abstract: A work holding mechanism for horizontally holding a flat work is incorporated in work transport equipment. The holding mechanism includes a base member for supporting the work and a plurality of guide members provided at the base member. Each guide member includes a shaft, a contact portion and a limit portion. The shaft is pivotally supported by the base member. The contact portion comes into contact with part of the lower surface of the perimeter of the work and is pushed down, with the shaft as a fulcrum, when the work is placed on the base member. The limit portion is raised, with the shaft as a fulcrum, to face part of the side surface of the perimeter of the work when the contact portion is lowered.

Abstract: A gripper system having a pair of jaws operable in a first plane and having a central closure axis; each jaw including a finger member and finger tip member disposed on its distal end; and a gripper drive assembly for moving the jaws toward and away from each other; each finger member having a shaped inner contour for accommodating an object to be gripped; each finger tip member including an inner surface which generally aligns with the shaped inner contour for gripping a range of larger objects and an outer surface which generally aligns with the gripper central closure axis upon closure for gripping a range of smaller objects. Alternatively, each finger tip member may include a forcep element extending transversely to said plane.

Abstract: An adapter device (26) for use in automated handling equipment (10) includes an adapter support (30) that is adapted for automated movement. One or more support members (32) are rigidly securable to the adapter support (30) in a plurality of different positions relative to the adapter support (30) to provide a variety of adapter device (26) configurations for objects of different sizes and shapes.

Abstract: This invention relates to a gripper for a manipulator robot comprising two members articulated at a first end, each member comprising a jaw support (8?) at a second end, and a jaw (10?) that will come into contact with an object, the jaw (10?) being approximately plane, a force sensor (26?) arranged between at least one jaw support (8?) and a jaw (10?) so as to apply a force during displacement of the jaw (10?), and a deformable parallelogram connection (14?) connecting the jaw (10?) to the jaw support (8?), the sensor (26?) being oriented such that a sensitive axis of the sensor is orthogonal to the plane of the jaw (10?).

Abstract: A robot hand apparatus (1) includes a base (2); a motor (M); a first-link (10) supported by the base (2) while allowing the rotation around a first axis (S1), which is in parallel to an actuation axis (G) of the motor (M) and is positioned apart from the actuation axis (G), the first-link (10) has a first guide path (11b) movably supporting a control axis (42); a second link (20) which connects with the actuation axis (G) and supports the control axis (42), and moves the control axis (42) within the first guide path (11b) in accordance with the rotation of the actuation axis (G); and a finger link (F1) supported by the first link (10) while allowing the rotation around a second axis; and the finger link (F1) directly or indirectly links with the control axis (42) and is rotated by the actuation of the control axis (42).

Abstract: A conveying system includes a robotic arm, an end-of-arm-tool, carried by the robotic arm, and a conveyor. In one example, the end of arm tool includes a plurality of engagement mechanisms arranged in an array. Each engagement mechanism includes at least two opposed fingers moveable between engaged and released positions, and is thereby adapted to grasp a soft-sided article from the conveyor. The conveyor includes a plurality of parallel tracks, each track separated from an adjacent track by a groove. A plurality of stops is configured to stop a plurality of soft-sided articles in an array analogous to the arrayed engagement mechanisms of the end-of-arm tool. In operation, the opposed fingers of each engagement mechanism pass through the grooves defined within the conveyor, to grasp upstream and downstream sides of an article, respectively, and underneath the article, which is then lifted by the robotic arm.

Abstract: The invention concerns a clamping element (1) for attaching a gripper (42, 44) onto a clamping tongue as well as a gripper with this kind of clamping element (1). The clamping element (1) has a longitudinal carrier (10) the width of which substantially corresponds to the width of the clamping tongue (42, 44) and at least two mutually distanced clamping regions (20, 20?). Besides at least one fastening element (30, 30?) for the detachable fastening of the clamping elements (1) to the clamping tongue (42, 44) is provided. By means of the invention an improved force division as well as a secure support on the clamping tongue is achieved.

Abstract: A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.

Abstract: A transport system of a wire bonder for the transport of a strip from an input magazine to the bonding area and to an output magazine comprises two grippers. The first gripper is a puller gripper adapted to pull the strip out of the input magazine and transport it to the bonding area. The second gripper is an ejector gripper adapted to transport the strip from the bonding area to the output magazine and to push it into the output magazine. The grippers comprise three levers bearing on a common axis, a single motor and means for transforming the rotation of the motor into rotations of the three levers.

Abstract: An end effector includes a base part and a first member. The first member includes first, second, and third serially articulated struts. The first strut articulates with the base part for relative angular displacement about a first pitch axis and about a first roll axis. The first roll axis is substantially orthogonal to the first pitch axis. The second strut articulates with the first strut for relative angular displacement about, firstly, a first yaw axis substantially orthogonal to the first pitch axis and the first roll axis, and, secondly, about a second pitch axis substantially parallel to the first pitch axis and substantially orthogonal to the first yaw axis. The third strut articulates with the second strut for relative angular displacement about a second yaw axis substantially parallel to the first yaw axis.

Abstract: A gripper for containers, in particular for those having at least partially a circular cross section, such as bottles, the gripper having a first, a second and a third swiveling lever which can grip a container in a first, a second and a third position, respectively, whereby the first swiveling lever has an operating arm which is used for operating the gripper and whereby the first swiveling lever is linked to the second swiveling lever and the first swiveling lever is linked to the third swiveling lever and the container can be held by gripping it with the three swiveling levers in the three positions.

Abstract: A multiple tool attachment system is adapted to be attached to demolition equipment. The system includes a universal body attached to the demolition equipment. A series of tools is independently attachable to the universal body. The universal body includes a guide slot extending longitudinally along the universal body. Each tool generally includes a pair of pivotable jaws adapted to be pivotably attached to the universal body with at least one linkage extending from the universal body and attachable to each jaw of the tool. A slide member is received within the guide slot, with each linkage attached to the slide member, and a piston cylinder arrangement is attached to the universal body and coupled to the slide member for moving the slide member and the jaws. The multiple tool attachment system is provided with quick change features and is designed to optimize the cutting characteristics throughout the movement cycle.

Abstract: A device for mounting a pneumatic tire onto a vehicle wheel rim comprises a handling robot, including a robot hand (7), which is movable about a plurality of axes and comprises a rotationally drivable flange (8) and a gripper (2) attached thereto, the gripper including a base element (10) and at least two gripper arms (15) which are movable radially relative to the centre axis of the gripper (2). The gripper arms (15) are coupled to a synchronization device, which synchronizes the radial movement of the gripper arms (15) and includes a disc (23), mounted on the base element (10) of the gripper (2) so as to be rotatable about the centre axis of the gripper and rotationally drivable via a motor, and coupling members (25) fixed to the disc (23) and the gripper arms (15) via hinged joints (26,27) in such a way that a rotation of the disc (23) produces a synchronous radial movement of the gripper arms (15).

Abstract: A gripping apparatus for gripping containers may comprise a gripping element which has two gripping parts that can move relative to one another and a carrier on which the gripping parts are arranged. At least one portion of the container to be gripped can be received between these gripping parts. The gripping apparatus may comprise a detachment mechanism for detaching the gripping parts from the carrier, wherein this detachment mechanism can be actuated manually and without the aid of a tool in order to detach the gripping parts from the carrier.

Abstract: A method for rapidly determining feasibility of a force optimization problem and for rapidly solving a feasible force optimization problem is disclosed. The method comprises formulating the force optimization problem or force feasibility problem as a convex optimization problem, formulating a primal barrier subproblem associated with the convex optimization problem, and solving the primal barrier subproblem. The method and related methods may also be used to solve each problem in a set of force optimization problems, determine the minimum or maximum force required to satisfy any of a set of force optimization problems, solve a force closure problem, compute a conservative contact force vector, or solve a feasible force optimization problem with bidirectional forces.

Abstract: A grapple, designed to grab, ferry, and dump loads of loose material such as mulch, comprising left and right frame members and finger assemblies with specially adapted curved fingers. Load arms connect the grapple to a supporting means, typically a helicopter, and also serve as anchors for finger cables and connecting arms cooperating with the finger assemblies to open and close the grapple. The method of grabbing prominently features using the shape of the fingers and the weight of the grapple and load to penetrate into and under the load. A latching mechanism cooperating with the connecting arms ensures stable ferrying until the remote operator, generally the helicopter pilot, activates an electrical control switch to release the latch and dump the load.

Abstract: A wheel lifting device comprising a first portion and a second portion is disclosed. Each of the first portion and the second portion comprise a vertical member, a horizontal member, and a plurality of rotatatable devices coupled to and spaced apart laterally on the horizontal member. The horizontal member of the first portion is generally parallel to the horizontal member of the second portion and both horizontal members are generally perpendicular to a plane defined by the two vertical members.

Abstract: A device for gripping products including a first gripper arm having a first gripper pad, and a second gripper arm having a second gripper pad, the first gripper pad having a bore and an outer surface being eccentric with respect to the bore. A method is also provided.

Abstract: A mechanical grasping system that is both simple to fabricate and operate and robust. A multi-fingered hand may be driven by a single actuator, yet can grasp objects spanning a wide range of size, shape, and mass. The hand may be constructed using polymer-based Shape Deposition Manufacturing, with joints formed by elastomeric flexures and actuator and sensor components embedded in tough rigid polymers. The passively compliant, adaptive hand has superior robustness properties, able to withstand large impacts without damage and capable of grasping objects in the presence of large positioning errors, appropriate for use in unstructured and/or human environments.

Abstract: A gripper assembly for a tray sealing machine. The gripper assembly includes a carriage movable between extended and retracted positions; at least one gripper arm attached to the carriage and movable between gripping and releasing positions; and first and second independently operable drives separate from the carriage but coupled thereto via respective first and second drive train assemblies. The first drive train assembly is adapted to move the carriage between the first and second positions in response to the operation of the first drive, and the second drive train assembly is further adapted to cause the at least one gripper arm to move between the open and closed positions in response to operation of the first and second drives at differing speeds.

Abstract: A prosthetic finger includes a crossed four (4) bar linkage system having a base formed by a base bar, two cross bars, and an interface bar that engages an object to be held. The base bar is fixed to an artificial finger of an amputee. A first cross bar has a first end pivotally mounted to a first end of the base bar and a second cross bar has a first end pivotally mounted to a second end of the base bar. The first cross bar has a second end pivotally mounted to a first end of the interface bar and the second cross bar has a second end pivotally mounted to a second end of the interface bar. The first and second cross bars are slideably interconnected to one another at a cross point which changes its location as the prosthesis grasps objects of differing sizes and shapes.

Abstract: An apparatus for picking up products or groups of products, including a gripper having a frame, two holders that are movably connected on two opposite sides of the frame, and two gripper blades that are each movably connected with an associated one of the holders. Each gripper blade has the shape of an arc with an associated axis, the two axes of the two gripper blades are situated between the two gripper blades. Guide wheels, in the form of a pinion with teeth, engage with at least one row of holes arranged on the arc of the gripper blade to thereby guide the associated blade during rotation about its axis. A first drive is provided for moving each of the holders away from and towards each other. Two second drives are connected with a respective one of the two gripper blades to rotatingly turn outwards or draw inwards the associated arcuate gripper blade. A third drive is provided for displacing the gripper frame.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: An automatic tool-changing arm of an automatic tool changer applicable to a machine tool, primarily comprises an immovable platform, a movable platform located below the immovable platform, a platform driving device driving the movable platform to vertically move with respect to the immovable platform, a gear assembly settled on the moveable platform and an arm body fixedly attached to the movable platform and to be rotated by the gear assembly, wherein the arm body has two ends each equipped with a clamp driving device and a power clamp. Thereby, the arm body can perform vertical movements and horizontal rotations precisely and stably so as to enhance the reliability of the tool-changing arm.

Abstract: An apparatus and method for the improved hanging transportation of an article having an uneven weight distribution that permits the article to hang in a balanced manner. The apparatus is attached to an overhead trolley and includes attachment plates rotatably secured to the overhead trolley and a plurality of chain assemblies. Each of the attachment plates define several chain mounting holes, with each of the chain mounting holes being formed at a predefined, individual radial spacing from a center mounting hole. By attaching the chain assembly to selected ones of the plurality of chain mounting holes, an effective chain length can be varied. The chain assemblies support the article, and adjusting the effective chain lengths permit the article to hang in a balanced manner.

Abstract: A system to compact brushwood at logging sites and to allow its rapid removal from logging sites is described. The system includes a grappling claw fitted with at least one swivelable or pivotable chainsaw to the side of the grappling claw. The grappling claw pinches a bundle of brushwood and the at least one chainsaw cuts it into bundled sections. Another embodiment includes a grappling claw fitted with two chainsaws, each chainsaw pivotably mounted on each side of the grappling claw and may be adjusted to different inter-chainsaw separations. The pinched brushwood bundle is sawed into bundle sections defined by the distance between the two chainsaws and/or to lengths falling externally from the chainsaws not held by the grappling claw.

Abstract: According to one embodiment in the invention, a pressure sensor includes: an inner flexible insulation substrate; a plurality of inner electrodes arranged on the inner flexible insulation substrate at a certain distance from each other; an outer flexible insulation substrate disposed along an outer face of the inner flexible insulating substrate so that the inner electrodes are disposed between the inner flexible insulation substrate and the outer flexible insulation substrate; a plurality of outer electrodes disposed on an outer face of the outer flexible insulation substrate at a given distance from each other; and an elastic cover covering the outer face of the outer flexible insulating substrate with the outer electrodes, wherein respective distances between the inner electrodes and the outer electrodes are variable by a pressure applied externally to the elastic cover.

Abstract: The pinching fingers implement of the present invention provides independent grasping claws that can be independently opened or closed, and also independently rolled forward and backward, to provide for the secure and versatile grasping, manipulation and transport of irregular items.

Abstract: A gripper assembly including a rotary motor and a linear motor disposed within the rotor housing is provided. The linear motor includes a longitudinally slideable push rod and a pair of oppositely moving fingers. Each of the fingers is pivotally attached adjacent an end of the longitudinally slideable push rod. The push rod is moveable upon actuation of the linear motor to cause the fingers to move symmetrically toward and away from each other. Upon actuation of the rotary motor, rotational movement of the longitudinally slideable push rod causes the fingers to synchronously rotate. These actions are monitored by the microprocessor through additional circuitry to monitor the electrical current, amperage, consumed for each pulse which indicated the mechanical resistance to the movement.

Abstract: A multi-finger grasping mechanism (300), comprising three two-joint finger units (1-1 to 1-3). Each two-joint finger unit further comprises a finger root part (2), a finger root side joint part (5), a finger intermediate part (3), a finger tip side joint part (6), and a finger tip part (4). The finger intermediate part (3) can be swung about the joint axis (5a) of the finger root side joint part (5), and the finger tip part (4) can be swung about the joint axis (6a) of the finger tip side joint part (6). The finger tip part (4) can be swung about the center axis thereof. When a bolt (W) is held by the finger tip part (4) and the finger part (4) is rotated, the tightening operation of the bolt (W) can be performed.

Abstract: A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.

Abstract: In a robot hand , at least one finger link thereof is configured to comprise a first member , a second member adhered to a surface of the first member and a third member covering at least the second member and a rigidity of the second member is made smaller than the rigidities of the first member and the third member. With this, the flexibility of the finger is improved by the second member, thereby increasing the contact area between the third member and a held object, so that the object can be securely held.

Abstract: A vehicle-to-vehicle grasping device which utilizes a pair of top and bottom clamp fingers to grasp the back end of a fleeing vehicle. The clamp fingers are opened and closed through the use of an actuator cylinder and rod. The grasping apparatus is rotatably connected to the front end of a motor vehicle. When not in use, the grasping apparatus lies parallel to the vehicle's front bumper. When a fleeing vehicle is to be stopped, the chase vehicle operator would cause the grasping apparatus to be rotated so that the clamp fingers and related elements of the grasping apparatus are at a right angle to the chase vehicle's front bumper. Once within reach of the fleeing vehicle, the chase vehicle operator engages the actuator cylinder and rod to cause the clamp fingers to close upon the fleeing vehicle's rear bumper or trunk. By applying the chase vehicle's brakes, the fleeing vehicle will be sufficiently slowed or stopped.

Abstract: A grapple apparatus of a type having arms that pivot about parallel axes of a frame for grasping and releasing objects and wherein the entire grapple, including the grapple arms, pivots about a pivotal axis transverse to such parallel axes, and more particularly to a grapple which is pivotally adjustable about such pivotal axis between a first position and can be locked in at least the first and second positions thereof. A heel is fixed to the frame for supporting an object being grasped by the grapple when the grapple is in the first pivotal position thereof. A tooth is also optionally attached to the frame for permitting manipulation of the position of an object when the grapple itself is not being used.

Abstract: A holding apparatus and a holding unit are disclosed. The holding apparatus (4) includes a base plate (21), a fixed holding member (22) fixed on the base plate, a first movable holding member (11) arranged in opposed relation to and operated in collaboration with the fixed holding member, a second movable holding member (12) operated in collaboration with the first movable holding member in operatively interlocked relationship therewith, and a drive device (19) for driving the first movable holding member and the second movable holding member in operatively interlocked relationship with each other. Both the second movable holding member and the fixed holding member face one side of the first movable holding member. Therefore, holding power can be increased easily without a large space.

Abstract: Lightened vibrating clamp for machines harvesting fruit by shaking, of the type featuring two jaws capable of being brought closer together or of being placed further apart from each other. At least one of the jaws includes an exterior jacket made of composite material and positioned around a web or core.

Abstract: An apparatus comprising a gripper frame, connected with an arm or beam for displacing the gripper frame, two gripper blades which are rotatably connected with the gripper frame, two supporting strips each connected along hinges extending substantially in horizontal direction with each respective one of the two supporting strips, a driver which performs a vertical movement for engaging such packaging units in an engagement position and releasing such packaging units in a release position, and a controller connected with the gripper frame, the supporting strips, and the driver. The controller comprise a single lift plate arranged under the gripper frame and between the gripper blades. A vertical upward movement of the lift plate moves the supporting strips to an engagement position to clamp the packaging units between the gripper blades and downward movement of the lift plate moves the supporting strips to a release position.

Abstract: A robot hand apparatus (1) includes four of finger mechanisms (20) each elongates from a base (10), a motor (30) actuating each finger mechanism (20), four of rotation rollers (50) each connects with corresponding finger mechanism (20) for actuating each finger mechanism (20), and a power transmission mechanism (60) transmitting a power from the motor (30) to each rotation roller (50) at different timing.

Abstract: An apparatus and method for gripping containers, each having a circumference, for dumping material in a material collection vehicle including more than one gripping mechanisms, wherein each of the gripping mechanisms can engage a container around at least one-half of the circumference of the container. In one embodiment, the gripping mechanism is attached to a base member and includes an outer gripping member pivotally attached to the base member and an inner gripping member pivotally attached to the base member and an actuating mechanism for moving at least one gripping member toward the other gripping member.

Abstract: A handling for components having a similar shape, particularly motor vehicle body parts, wherein a gripper on an arm of a robot can grip the component and its similarly-shaped other components with one and the same clamp device without re-tooling, is equipped with two gripper chucks on each clamp device. However, only one gripper chuck can be steered into the grab positions in each case, while the other gripper chuck is then located in the parking position outside a grab area on the component.

Abstract: A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms.

Abstract: In order to produce a gripping device for a robot or for a gantry loader that can be employed in a flexible manner, it is proposed that the gripping device should comprise at least one linearly displaceable gripping jaw and at least one pivotal gripping connection.

Abstract: A connecting and adapting system for interconnecting a pair of jaws of a grapple assembly and for adapting the grapple assembly for connecting to a plurality of linkages. The system includes bearings, where the bearings have a flange, an elongated section, and a bore. The flange of the bearings abuts a portion of one of the jaws, the elongated section of the bearings interconnects the jaws, and the bore of the bearing receives a pin to provide a connecting location. A portion of the bearing, being positioned opposite the flange, receives a collar that abuts a portion of one of the jaws.

Abstract: A gripper for use with a robot includes a support body for removably attaching the gripper to a moveable arm and a workpiece contact body having a groove extending along at least a portion of the contact body for engaging a curved outer edge of the workpiece. A coupling member connects the support body to the workpiece contact member and includes a flexure component that flexes to allow radial and/or tangential relative movement of the workpiece contact body with respect to the support body to diminish slippage between the workpiece and the contact body as the gripper engages the workpiece.

Abstract: A demolition claw has a support, a pivot pin mounted on the support and centered on and extending along an axis, and two jaws each having a hole through which the pivot pin extends so that the jaws can pivot on the support about the axis. The jaws have adjacent the respective holes confronting flat faces. An arcuate formation fixed on one of the faces adjacent the respective hole projects axially therefrom toward the other of the faces and is generally centered on the axis. A retaining formation fixed on the other of the faces adjacent the respective hole projects axially therefrom toward the one face, is radially offset from the arcuate formation, axially overlaps the arcuate formation, and surrounds the arcuate formation. Structure is provided on one of the jaws for preventing axial separation of the jaws.

Abstract: The invention concerns an angular pneumatic gripper structure having a body (11) formed of two symmetric and identical elements or shells (15) realized and finished individually using a forming process and then associated and attached face to face to form together a housing chamber of an alternating piston (12) and a structure for receiving and guiding an intermediate drive (13) transversely and some grips (14) so as to turn driven by the piston through the drive. The elements or shells forming the body are made using die-casting, sintering or forging processes with material suitable for these forming techniques.

Abstract: A grapple apparatus of a type having arms that pivot about parallel axes of a frame for grasping and releasing objects and wherein the entire grapple, including the grapple arms, pivots about a pivotal axis transverse to such parallel axes, and more particularly to a grapple which is pivotally adjustable about such pivotal axis between a first position and can be locked in at least the first and second positions thereof. A heel is fixed to the frame for supporting an object being grasped by the grapple when the grapple is in the first pivotal position thereof. A tooth is also optionally attached to the frame for permitting manipulation of the position of an object when the grapple itself is not being used.

Abstract: A holding structure, such as a manipulator, includes a plurality fingers. At least one of the fingers is movable such that an object can be held or released by a closing or opening motion of the movable finger. At least one contact surface of the fingers, which is capable of being brought into contact with the object, is formed by an elastic member, and at least one elastic member is adapted to reversibly change its elasticity under the control of an external supply of energy to the elastic member.

Abstract: A robotic hand comprises a base having fingers and a palm. The fingers define a working volume. The hand is able to grasp objects between the fingers and the palm by varying a distance from the palm to the working volume. Varying this distance can be achieved by either moving the palm towards the working volume or by moving the working volume towards the palm. Robotic hands that move the palm comprise an actuator that extends the palm from the base towards the working volume. Robotic hands that move the working volume relative to the palm have the fingers mounted to a common finger support unit that is configured to translate relative to the base.

Abstract: This invention is directed to a system for actuating manipulator jaws. This system employs a double sided rack, each side of which engages a pinion at a first end of a rotatably mounted lever. The second end of each lever comprises a jaw region. The present invention may be used with subsea manipulators mounted on remotely operated vehicles (“ROV's”).