Abstract: A surgical instrument includes a motor-driven drive shaft, a distal firing rod coupled to a driven element of a surgical end effector, and a clutch mechanism coupled between the drive shaft and the distal firing rod. The clutch mechanism is configured to electrically connect the drive shaft and the distal firing rod upon the distal firing rod experiencing a threshold force. The electrical connection signals a processor that the threshold force has been exceeded.

Abstract: A grappling apparatus usable with a vehicle is provided. The grappling apparatus includes a connection assembly, a grappling assembly and a stabilizing assembly. The connection assembly connects the grappling apparatus to the vehicle. The grappling assembly has an upper claw assembly and a lower claw assembly. The upper claw assembly has a first plurality of manipulator arms and a walking gear. The lower claw assembly has a second plurality of manipulator arms and a stabilizer gear. The walking gear is meshable with the stabilizer gear and the first and second plurality of manipulator arms are operably connected to the walking gear and the stabilizer gear so as to be moveable between a closed position and an open position. The stabilizing assembly has a stabilizer bar operably connected to the second plurality of manipulator arms and the vehicle so as to stabilize the at least one stabilizer gear.

Abstract: An autonomous tray handling robotic system is disclosed. In various embodiments, data indicating a set of output stacks to be assembled is stored, each output stack including an associated set of trays each of a corresponding tray type. Operation of one or more robots is controlled, each robot being configured to grasp, move, and place one or more trays at a time, according to a plan, to iteratively pick trays from source stacks of trays and assemble the set of output stacks, including by building each output stack by successively placing on the output stack trays picked from one or more corresponding source stacks. Each of the robots comprises a robotic arm and a tray handling end effector configured to grasp, move, and place one or more trays without assistance from another robot.

Abstract: A grabber assembly including a carriage, a pin, a first adapter, a second adapter, and a sleeve. The pin extends through a bushing of a grabber arm. The bushing is pivotally coupled with the pin. The first adapter is coupled with the carriage and configured to receive a first end of the pin. The second adapter is coupled with the carriage and configured to receive a second end of the pin. The sleeve extends co-cylindrically with the pin, the sleeve positioned within a central bore of the bushing between the bushing and the pin.

Abstract: A gripper arm for a gripping device for gripping, holding and guiding in particular bottle-like containers which includes a base body and a gripping section arranged on the base body, wherein the gripping section is pivotably mounted about a pivot axis in and against a direction of pivoting. At least one limiting means for limiting a pivoting range of the gripping section and at least one resetting means is provided for returning the pivoted gripping section into a vertical position. Further provided are a gripping device as well as a transport device.

Abstract: A material lifter comprising a vacuum pump, a frame containing the vacuum pump, an arm located on each of two opposing sides of the frame, each arm including an upper end pivotally connected to the frame, a cylinder located on each of the two opposing sides of the frame including an end connected to the frame and an end connected to a respective arm, a vacuum pad located on each of the two opposing sides of the frame and removably connected to a respective arm, the vacuum pads being moveable along the arm to a first location and a first orientation and a second different location and a second different orientation, wherein as the cylinders extend and retract the arms pivot toward and away from one another between a first position and a second different position and the vacuum pads remain in a same orientation during the pivot.

Abstract: A load lifting hook assembly includes a body, a hook coupled to the body, a fluid connection on the body and connectable to a pressurized fluid source, a piston and a pressure relief valve. The piston is extendable from the body to engage the hook and lock the hook in a closed position relative to the body. The piston is configured to receive pressurized fluid from the fluid connection tending to urge the piston out of engagement with the hook. The pressure relief valve is positioned in the body in communication with the fluid connection and configured to prevent excess pressure in the pressurized fluid from acting on the piston.

Abstract: A pizza transfer tool incorporating a vertical shaft; an upper member mounted to the vertical shaft for upward and downward motions; a lower member mounted to the vertical shaft for upward and downward motions; a circumferential array of upper pivot arms having proximal ends pivotally mounted to the upper member; a circumferential array of lower pivot arms having proximal ends pivotally mounted to the lower member; a circumferential array of linking members having inner ends and outer ends, wherein each outer end is pivotally mounted to a distal end of one of the upper pivot arms, and wherein each inner end is pivotally mounted to a distal end of one of the lower pivot arms; and a circumferential array of spatulas attached to the linking member's inner ends.

Abstract: Example systems and methods are described that are capable of gripping objects. In one implementation, a method involves identifying, by a processing system, an object to be gripped at a first location, commanding, by the processing system, a robotic actuator to move a gripper in a first direction so that the gripper makes contact with the object, wherein one or more teeth in a plurality of fingers associated with the gripper mechanically engage the object, and commanding, by the proceeding system, the robotic actuator to move the gripper in a second direction that is substantially opposite to the first direction, causing the gripper to grip the object.

Abstract: A component mounting machine that performs mounting of components by moving a mounting head attached to slide using linear motor, stator of the linear motor that is forms of magnets arranged side by side is arranged on base, movable element is fixed to a slide so as to pass through the stator, and bracket for holding a portion of wires for supplying power to the linear motor and wire protector is fixed to the movable element. Since the bracket is located at a position close to the axis line of the movable element, the rotational moment acting on the slide due to the deformation resistance of the wires and the wire protector caused by the movement of the slide is reduced, and appropriate movement of the slide is ensured.

Abstract: A tong assembly for use with a work vehicle for grasping irregular shaped objects such as large rocks and smaller sized boulders. The tong assembly includes specially designed load engagement pads having a rectangular configuration of steel bars and attachable to the tong arms proximate their lower ends. A pair of the bars that extend parallel to one another, but normal to the tong arms have a serrated arcuate load engaging surface for enhancing the ability of the tong assembly to grasp and retain irregular shaped objects.

Abstract: A delivery system includes a drone including a prime mover and a payload attachment system including a selectively deployable magnet, and a reusable tote including a body having a base, sides, and a lid, the reusable tote including an attachment member provided on the lid operable to engage with the selectively deployable magnet.

Abstract: A delivery system includes a drone including a prime mover, one or more rotors operatively connected to the prime mover, and a payload attachment system including a latch mechanism having a first selectively deployable clamp member and a second selectively deployable clamp member. The delivery system also includes a plurality of nested reusable totes. Each of the plurality of nested reusable totes includes a body having a base, sides, and a lid, at least two of the sides include a gripping feature. The selectively deployable clamp members are operable to engage with the gripping feature on one or more of the plurality of nested reusable totes.

Abstract: A workpiece gripping device includes a gripping member and a holding member. The gripping member includes a pair of extension parts that protrude from a base part and face each other with a space therebetween where the plate-shaped part of the workpiece can be inserted, and is deformable so that at least parts of the extension parts approach each other or are separated from each other. The holding member includes a slit for holding the gripping member slidably along a direction in the extension parts protrude, can make the extension parts approach each other by housing at least parts of the extension parts in the slit, and can make the extension parts be separated from each other by projecting at least parts of the extension parts from the slit.

Abstract: Disclosed is a berthing system to receive a client module, including a plurality of berthing posts, a plurality of clamping mechanisms each mounted to a respective berthing post, the plurality of clamping mechanisms movable along a berthing post to clamp a received module, wherein the plurality of clamping mechanisms are configured to assert a radial force upon the received module, wherein the plurality of clamping mechanisms each include a rotary clamping jaw that includes drawdown portion and a radial contact portion.

Abstract: A component supply device includes a posture maintainer and a pair of cutting members. The posture maintainer includes a pair of grip members, each of which includes a tip end portion that extends in a traveling direction of a component holding tape. The posture maintainer maintains the posture of a component by gripping a body portion of the component having been supplied to a component supply position with the body portion interposed between the tip end portions of the pair of the grip members. The pair of cutting members cuts a lead portion of the component having been gripped by the pair of grip members with the lead portion interposed between the pair of cutting members in a direction intersecting a traveling direction of the component holding tape.

Abstract: A robotic surgical system for performing a procedure within a sterile field comprises a manipulator arm and a surgical accessory clamp for coupling a surgical accessory to a distal end portion of the manipulator arm. The accessory clamp includes a base for coupling with the distal end portion of the manipulator arm, two clamp jaws with each of the clamp jaws directly and rotatably coupled to the base by respective pivot pins, and a lever operable to move the two clamp jaws between an open position and closed position. The system also includes a sterile drape covering the accessory clamp and the manipulator arm to shield the accessory clamp and the manipulator arm from the sterile field.

Abstract: Systems and methods and systems for wirelessly transmitting power between an industrial vehicle and an attachment.

Abstract: A traffic barrier lifter mountable on a boom and having a gearbox with a first and a second rotating axis; a pair of opposing arms directly mounted to the first and second rotating axis and a rotator capable of rotating the lifter relative to the boom, wherein the gearbox is capable of moving the pair of opposing arms from an open position to a closed position such that the arms can clamp onto a traffic barrier. The rotator being capable of rotating the arms and traffic barrier relative to the boom.

Abstract: A telescoping arm with securable pole-tilt assembly for manipulating a utility pole and comprising a pair of opposed jaws and a saddle, the arm comprising a boom and an elongate pin for selectively securing the pole tilt assembly in an operating position to the end of a telescoping boom section or in an out of operation position to an intermediate boom section wherein in the out of operation position the telescoping boom section can extend through the pole-tilt assembly and the elongate pin engages the jaws of the pole-tilt assembly preventing them from being articulated downwards towards the saddle, thereby preventing damage to the telescoping boom.

Abstract: The robot hand includes a frame and finger units which are provided on the frame and grasp an object to be grasped. The finger units include a Scott Russell mechanism, a first parallel link mechanism, and a second parallel link mechanism.

Abstract: The apparatus is a mechanism for acquiring, holding, and enabling the movement of a cassette-shaped article, such as a reagent or sample cassette, which may be part of an automated diagnostic analyzer, such that the apparatus can tolerate a significant degree of cassette misplacement and/or misalignment during the acquisition maneuver. The mechanism furthermore enables simultaneous two-dimensional movement of the acquiring gripper jaws such that the inter-jaw distance decreases at the same time as movement in an upward vertical direction is provided while the jaw movement is adequately smooth so as not to disturb the physical state of the sample.

Abstract: A clamping mechanism includes a driving assembly, a gear assembly and a clamping assembly. The driving assembly includes a driving gear. The gear assembly includes a first slave gear, a second slave gear and a connecting rod which is coupled with the first slave gear and the second slave gear. The first slave gear meshes with the second slave gear. The clamping assembly includes a first clamping member and a second clamping member, which are coupled to the first slave gear and the second slave gear respectively. When the driving gear rotates, the first slave gear and the second slave gear would rotate in opposite directions to enable the first clamping member and the second clamping member to move toward or away from each other, thereby clamping or releasing a workpiece.

Abstract: Disclosed is a wire clamp, comprising: a clamp body; a pair of arms coupled to the clamp body; and a piezoelectric actuator having a longitudinal axis extending between a first end and a second end, the actuator being coupled to the pair of arms at the first end and to the clamp body at the second end. The second end of the actuator is coupled to the clamp body by a preload mechanism for applying a preload force along the longitudinal axis, and the preload mechanism comprises at least one wedge having an inclined surface which is slidable over a mating inclined surface. Also disclosed is a method of applying a preload force to a piezoelectric actuator of a wire clamp, as well as a jig for applying a preload force to a piezoelectric actuator of a wire clamp.

Abstract: A system for handling a bead apex comprises a first jaw having open and closed states, which is configured to engage a first surface of a bead apex in the closed state. The system further comprises a second jaw having open and closed states, and a plurality of grippers coupled to the second jaw. Selected ones of the plurality of grippers are configured to engage a second surface of the bead apex in the closed state of the second jaw. Further, at least one of the plurality of grippers comprises a tapered end surface.

Abstract: A manually deployed grasping apparatus may be utilized for retrieving objects, such as rocks, concrete chunks and other debris, from vertical excavations such as potholes, boreholes, drilled shafts, etc. Unlike backhoes and other articulated arm machinery, the disclosed grasping apparatus is manually lowered into the excavation by the user. Once the apparatus is adjacent to the object to be retrieved, the opposite facing jaw members of the apparatus are placed into an open position to receive the object. Once the object has been received by the opposite facing jaw members, the jaw members are closed to capture the object. The jaw members are then manually withdrawn from the vertical excavation to retrieve the object.

Abstract: Automated systems and apparatus for transferring tubulars (tubulars used in wellbore and derrick operations, such as casing, tubing, drill pipe, etc.) or stands of pipe from one location to another in a derrick, e.g. from a fingerboard to a well center are described. The system includes a fully automated drill pipe handling system to move and position the drill pipe through all the steps of the drilling process.

Abstract: A clamping mechanism includes a driving assembly, a gear assembly and a clamping assembly. The driving assembly includes a driving gear. The gear assembly includes a first slave gear, a second slave gear and a connecting rod which is coupled with the first slave gear and the second slave gear. The first slave gear meshes with the second slave gear. The clamping assembly includes a first clamping member and a second clamping member, which are coupled to the first slave gear and the second slave gear respectively. When the driving gear rotates, the first slave gear and the second slave gear would rotate in opposite directions to enable the first clamping member and the second clamping member to move toward or away from each other, thereby clamping or releasing a workpiece.

Abstract: A drive device includes plural moving portions, piezoelectric motors that move the moving portions, at least one drive circuit that drives the piezoelectric motors, and a connection/disconnection portion that connects and disconnects the piezoelectric motors and the drive circuit. The number of drive circuits is fewer than the number of piezoelectric motors.

Abstract: An apparatus for gripping and retaining PET bottles in a filling system includes a passive clamping system having pivotable gripping arms that pivot around corresponding pivot axles and that are acted upon by either a spring or permanent magnets. The first pivotable gripping arm has a first extension on an other side of the first pivot axle and the second pivotable gripping arm has a second extension on an other side of the second pivot axle. The extensions have receptacles for guiding a compression spring and for applying a bending force to the compression spring or to sub-segments thereof. These receptacles can be rod-shaped or rail-shaped.

Abstract: A regenerative hydraulic circuit for a clamping attachment limits the clamping force applied to a clamped load.

Abstract: An apparatus comprises a bottle clamp having first and second clamp arms extending beyond respective first and second pivot axes. The clamp arms are held in a closed position. A rotatable locking element part is provided on an extension region of the first clamp arm, and a fixed locking element part is provided on an extension region of the second clamp arm.

Abstract: A grabber assembly has a base to secure with the refuse collection device. A pair of arms is pivotally coupled with the base. The pair of arms moves between a grasping position and a release position. Belts are coupled with the arms. The belts contact the refuse container in the grasping position. A tensioning device tensions the belts to provide a variable force rate to tension the belts.

Abstract: The robot hand includes a frame and finger units which are provided on the frame and grasp an object to be grasped. The finger units include a Scott Russell mechanism, a first parallel link mechanism, and a second parallel link mechanism.

Abstract: A mechanized gripping apparatus for grabbing collection containers of a range of sizes is disclosed. The apparatus has converging opposed cylinder-operated finger arrangements which pivot together to close about a container for gripping and open to release a container.

Abstract: The present invention concerns a gripping head for packages of a wedge-like form. The invention also concerns a method of gripping a group of packages and transferring them into a box. The gripping head has side steering plates and pressure finger plates on two opposite sides. At one end of the gripping head a stop plate is arranged between the side steering plates and the pressure finger plates, while the opposite end is open. The side steering plates each has a number of steering plates and fingers of the pressure finger plates are placed on either side of the steering plates, which fingers are received in notches of the side steering plate. The fingers have folded lower ends. The side steering plates and the pressure finger plates are arranged mutually moveable bringing the folded lower ends of the fingers into and out of a position below the side steering plates.

Abstract: A gripping device comprising: a house; at least one gripper configured with at least one claw, the claw being configured with a pair of first phalanxes linked to the house at a first joint, and a pair of second phalanxes linked to the first phalanxes at a second joint; a first actuator arranged on the first joint; a second actuator arranged on the second joint; and a motor configured to enable the first and the second actuators co-operate so as to push the second phalanxes off a gripping substrate, or to push the second phalanxes back to the gripping substrate.

Abstract: A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an arcuate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.

Abstract: A separator separates sheets from a bundle. Slack in the strap used to raise and lower a clamp is used to determine when the clamp reaches the bundle. A non-horizontal conveyor tilts beneath the clamp to receive multiple articles, and then tilts over another bin to deposit the articles. The second bin includes an angled surface, which is straightened to shift the articles for clamping. The clamp is supported by, but not attached to, a support connected with the drive. When the clamp reaches the pile, the clamp stops but the support may continue to move. The clamp is tiltable. The article is transferred by an air jet onto a surface with a roller separated from the surface. Upon transfer, the roller forms a nip with the surface. The article is deposited on an exit conveyor having a flexible, raised portion.

Abstract: This invention provides hand operated portable adjustable length devices for grasping and manipulation of objects as well as methods of their use.

Abstract: A gripper formed as a single component includes a hoop portion connecting facing arms. Each arm may have a tang end, a jaw end and a pivot intermediate the tang and jaw ends and be attached to the hoop portion at the pivot to be pivotable to change the size of a jaw opening defined by the jaw ends. The hoop portion is cyclically loaded in use and configured to act as a stress concentrator for the gripper and provide a failure point for consistently initiating a failure crack in the hoop portion at time of failure of the gripper. Each of the facing arms is attachable to a base such that at failure, the fractured portions of the gripper are retained to the base.

Abstract: A gripper apparatus and its control method are provided. The gripper apparatus includes at least one gripper unit, and each gripper unit is configured with a first connecting rod and a second connecting rod. In addition, there is an elastic part disposed at the joint of the first and the second connecting rods, an encoder and a controller. Thereby, the controller is enabled to control the gripper apparatus to move toward an object in a first mode so as to enable the gripper unit to engage the object and thus exert a force upon the object. Consequently, the elastic part is deformed and the deformation of the elastic part is measured and encoded by the encoder into a force information to be transmitted to the controller for enabling the controller to switch the control of the gripper apparatus into a second mode according to the force information.

Abstract: A reconfigurable gripping device for securely gripping, lifting, and transporting a work piece is provided. The reconfigurable gripping device may include at least a first finger and a second finger each secured to a base platform with a base support. Each of the respective fingers may have a first link, a second link, and a third link each having a corresponding drive mechanism to individually drive the respective link. The first link drive mechanism and second link drive mechanism are configured to control the grasp and adaptability of each of the respective fingers to place the third link upon a work piece. The third link drive mechanism is configured to drive the third link of each of the respective fingers to apply a clamping force upon the work piece.

Abstract: The disclosure describes a novel approach of utilizing a front loading waste collection vehicle. A gripper system is added to the fork tube of a front loading waste collection vehicle. The gripper system allows a front loader to lift and dump waste bins into the truck's hopper for the collection of trash, recyclables and/or other materials.

Abstract: A grapple mechanism is connected to a post driver on one side, rather than in the front of the post driver. The grapple connects to the post driver via a hinge which allows substantially 90 degrees of rotation between a horizontal position for picking up posts, and a vertical position for driving the post into the ground. A spring or other biasing mechanism preferably biases the grapple mechanism toward its horizontal position. However, the spring is preferably not so strong as to hold the grapple mechanism in the horizontal position even when a post is grappled. Preferably, the weight of a grappled post is sufficient to overcome the spring, causing the grapple mechanism to pivot about the hinge and into the vertical position. The grapple mechanism is therefore preferably sized, shaped and weighted so as to swing to a substantially vertical position when a post is grappled and lifted.

Abstract: A compliant underactuated grasper includes a base and a plurality of fingers. At least one of the plurality of fingers includes: a proximal phalanx; a proximal joint connecting the proximal phalanx to the base; a distal phalanx; a distal joint connecting the distal phalanx to the proximal phalanx; and a member for moving the phalanges. At least one of the proximal joint and the distal joint includes a flexure joint having a first compliance in a first direction and a second compliance in a second direction, the second compliance being stiffer than the first compliance. The distal phalanx includes: a rounded end face; and a lifting portion including a lifting edge adjacent the rounded end face. The member acts in parallel to the first direction. The grasper further includes at least one actuator associated with the member. The grasper has fewer actuators than degrees of freedom.

Abstract: A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.

Abstract: According to one embodiment, A chucking apparatus includes an arm that is configured to hold a test tube, an opening/closing mechanism that opens/closes the arm, a motor that drives the opening/closing mechanism, and a supplying unit configured to supply electric power to the motor at two different supply voltages.

Abstract: For use to enhance operations in a mechanized doughmaking facility, disclosed is a dough ball lifter comprised of a pair of opposing surrounds, having cutaways to minimize contact between the surrounds and the dough ball, and which lifter preferably is attachable to a robotic arm to move the surrounds from open to closed positions, so that the dough ball can be lifted and placed.

Abstract: A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.