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: A lifting device (102) inc1uding a handle (16) and at least two pivotably connected frame members (104) adapted to pivot between a first, open, configuration (02) and a second, closed, configuration (03), wherein at least a portion of inner walls of the at least two frame members (104) form a gripping surface, which gripping surface is adapted to lie substantially parallel with side walls of an article to be lifted (01) when in the second, closed, configuration (03).

Abstract: A wafer clamp according to the present invention always firmly clamps a wafer. A supporting arm of the wafer clamp will be replaced with a different one according to the wafer size. Moreover, with a larger area of the supporting arm, a wear resistance and a smoothness of the wafer is improved. Besides, the wafer clamp stops the wafer from slipping. Hence, the present invention has a simple structure, a good practicality and a wide application.

Abstract: A tray transferring apparatus for transferring a handling tray on which semiconductor devices are mounted prevents the semiconductor devices from being scattered or separated from the handling tray. The tray transferring apparatus includes a fixing means installed on a main frame for supporting a fixed tray, a correcting means installed on the main frame for correcting the position of the fixed tray, a gripping means installed on the main frame for gripping a handling tray, and at least one sensor for sensing gripper plates and the handling tray. A fixed tray is held by the fixing means, and right/left inclination of the fixed tray is corrected by the correcting means. An upper portion of a handling tray holding semiconductors is covered by the bottom of the fixed tray and is gripped by the gripping means.

Abstract: A vacuum actuated pick-up tool for transporting a current collector is provided. The pick-up tool comprises a housing having an external surface, an interior compartment, and a plurality openings extending from the external surface to the interior compartment. The interior compartment is configured to be coupled in fluid communication with a vacuum source to pneumatically secure the current collector to the external surface. The pick-up tool further comprises at least one protrusion extending from the external surface for contacting and spatially orienting the collector when pneumatically secured to the external surface.

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 gripper tip for use with a gripper assembly includes a first gripping surface located at least partially within a first plane and a second gripping surface located at least partially within a second plane that is transverse to the first plane. The first gripping surface includes a first gripping height relative to a first attachment portion associated with the first gripping surface. The second gripping surface includes a second gripping height relative to a second attachment portion associated with the second gripping surface, and the second gripping height is greater than the first gripping height.

Abstract: Disclosed is a robot for transferring a substrate, wherein the robot has a robot arm, a hand part, which includes a plurality of plates. A plurality of pins protrude from the plates such that each pin may be folded downward. The pins include a rubber or resin with thermally insulating properties. By selectively folding down a certain number of the pins, contact may be minimized between the substrate and the robot, thereby preventing damage to the substrate such as thermally-induced defects and stains.

Abstract: The present invention relates to a conformal gripping device. In an embodiment of the present invention a conformal gripper device may be disclosed comprising a frame that includes an array of movable pins. The device may also include a roller locking and unlocking system within the frame. The system may comprise a pair of locking rollers for each row of gripper pins to facilitate locking and unlocking the array of gripper pins on a column-by-column basis. The system may also include a striker element that may force the locking rollers to roll along an angled roll surface to facilitate unlocking of the array of pins on a column-by-column basis. The system may further include an electromagnetic actuator or solenoid and permanent magnets to facilitate movement of the striker element and the locking rollers.

Abstract: A test tube pick system for picking and placing test tubes in a rack that includes a hand-held pick unit that communicates with a host device that assists in instructing the picking and placement of test tubes, the hand-held pick unit having a housing with a hand grip portion, a control portion with an actuator control and a display for displaying alphanumeric characters for pick and placement locations, a pick portion having four extending fingers with bent ends forming four parallel spaced end prongs, and an actuator mechanism that displaces and spreads at least two of the four end prongs when the actuator control is activated by a user.

Abstract: A takeout holder including a takeout jaw formed of plastic.

Abstract: A traction control device and the method of making the same wherein the device has contact surfaces, typically formed from polycrystalline diamond compacts inserted into a base, and where the inserts, and in some embodiments the base, are machined or cut to induce profiles for enhanced gripping and improved wear characteristics.

Abstract: Apparatus and processes are disclosed that provide a microfabricated microtool having a mechanically actuated manipulating mechanism. The microtool comprises a tweezer having flexible arms, and an actuating mechanism. A biological, electrical, or mechanical component is grasped, cut, sensed, or measured by the flexible arms. The actuating mechanism requires no electric power and is achieved by the reciprocating motion of a smooth, rigid microstructure applied against the flexible arms of the microtool. In certain implementations, actuator motion is controlled distally by a tethered cable. A process is also disclosed for producing a microtool, and in particular, by micropatterning. Photolithography may be used to form micro-molds that pattern the microtool or components of the microtool. In certain implementations, the tweezer and actuating mechanism are produced fully assembled. In other implementations, the tweezer and actuating mechanism are produced separately and assembled together.

Abstract: The present invention provides grasping mechanisms, gripper apparatus/systems, and related methods. Grasping mechanisms that include stops, support surfaces, and height adjusting surfaces to determine three translational axis positions of a grasped object are provided. In addition, grasping mechanisms that are resiliently coupled to other gripper apparatus components are also provided.

Abstract: A takeout jaw for handling glass bottles includes a holder for both fixed and floating inserts. This design allows an insert to be in a fixed position when the insert is provided with a nominal thickness. When a floating insert of a lesser thickness is installed, the spring clip does not engage the floating insert, which allows the floating insert to move vertically or float. The takeout holder contains either type of insert within the pocket with retaining clips that engage chamfers formed on the inserts.

Abstract: An improved tweezers, particularly adapted for grasping small parts, has a first arm and a second flexible arm joined together at first ends to form a pair of tweezer jaws at second ends. A flexing of the flexible arm is accommodated as by incorporation of an arcuate portion of the first arm such that, when the arm is flexed by the application of a force, the jaw end of the flexible arm is displaced from jaw end of the first arm to open the tweezer jaws. When the force is removed, the flexible jaw returns to a rest position to apply a gripping force to an object between the jaws.

Abstract: An end effecter (201) is provided herein which comprises a blade (203) having a depression (213) formed in the surface (210) thereof, an elastomeric pad (209) disposed in the depression and a fastener (215) for releasably securing the pad within the depression such that a portion of the pad extends above the surface of the blade.

Abstract: A hand-held device for gripping objects positioned beyond arm's length, comprising a pair of jaws movable relative to each other between an unclamped position and a fully clamped position; a handle spaced apart from the jaws by a central portion, the handle including a trigger connected to the jaws by a pull member, whereby actuation of the trigger is operative to move the jaws between the unclamped and fully clamped positions thereof, and a locking mechanism selectively operable to lock the jaws in at least one intermediate position defined between the unclamped and fully clamped positions; and wherein the pull member is sufficiently resilient so as to permit the jaws to be temporarily urged away from each other towards the unclamped position when the pair of jaws are locked in the at least one intermediate position.

Abstract: A clamp having an adjustable tip assembly is provided. The adjustable tip assembly includes a finger, wedge and spreader. The finger is configured to engage the workpiece. The wedge is configured to engage the finger. The spreader is configured to engage the wedge, and applies a force against the wedge. The wedge, in turn, applies a force against the finger to hold the finger while engaging the workpiece.

Abstract: A gripping apparatus is disclosed. The gripping apparatus includes a first finger including a plurality of first sawteeth along a first longitudinal end and a receiving area being located between adjacent sawteeth and a second finger including a plurality of complementary sawteeth juxtaposed from the first sawteeth. One of the first and second fingers is movable relative toward the other of the first and second fingers such that an object to be gripped is positioned in the receiving area by one of the plurality of complementary sawteeth. The object is releasably retained against the receiving area by the second finger. A method of gripping an object is also disclosed.

Abstract: A picking tool employs a changeable end effector having first and second operative portions. A changing member allows selection of the first or the second portions for deployment during picking, such that the picking tool can be changed to different configurations of end effectors for varied uses. The changing member provides a locked position where the end effector is locked onto the picking tool for use and an unlocked position whereby the end effector may be removed and repositioned to present a different portion for operative use.

Abstract: A tool is used to remove a material strip from a surface. The tool has a collapsible body configurable in expanded and collapsed configurations. The expanded configuration allows the strip to be wound about the body while the strip is being removed from a surface. While the strip is wrapped about the body, the body may be collapsed to the collapsed configuration and then removed from the inside of the rolled strip.

Abstract: The present invention comprises a distal rest pad for supporting a portion of a wafer seated on an end effector. In one embodiment, the rest pad includes a bottom support pad and an edge stop. Each element is mounted separately to the distal end of a support plate. The bottom support pad includes an inclined surface that transitions to a substantially horizontal surface at its distal end. The edge stop has a substantially vertical wafer contact surface that the peripheral edge of a wafer eventually contacts as the wafer is urged towards the distal rest pad. In another embodiment, the bottom support pad comprises an inclined surface. In yet another embodiment, the distal rest pad comprises a single structure. This distal rest pad includes a backstop portion and a bottom support separated by a particle collection groove. The bottom support may include an inclined lead-in surface that transitions into a flat contact surface or only comprise an inclined lead-in surface.

Abstract: A wing holder is described that includes a pair of arms that are connected by a joint. The joint provides a flexible hinge for the movement of the arms between a first and second position for the seizing and engagement of appetizers, hors d'oeuvres, and other courses that include food pieces such as chicken wings and ribs. Jaws are positioned on the distal ends of the arms that include a distal first row of teeth and a second proximal row of teeth. The distal first row of teeth defines a notch for the retention of the food pieces during the eating process. The second row of teeth also engages and assists in the retention of the food pieces in the wing holder.

Abstract: A device for carrying a preform in a temperature condition oven, including a gripping device provided with gripping claws, which enclose an outer surface of the neck of the preform. An inner core is provided that penetrates axially inside the neck over a distance substantially equal to the axial length of the neck, such that it presents a lower transverse surface. When the preform is in place on the gripping device, it is substantially axially placed at the boundary between the neck and the body of the preform.

Abstract: A gripper tip for use with a gripper assembly includes a first gripping surface located at least partially within a first plane and a second gripping surface located at least partially within a second plane that is transverse to the first plane. The first gripping surface includes a first gripping height relative to a first attachment portion associated with the first gripping surface. The second gripping includes a second gripping height relative to a second attachment portion associated with the second gripping surface, and the second gripping height is greater than the first gripping height.

Abstract: An apparatus for moving large objects such as nursery stock incorporate two elongated arms, each including a handling member with a horizontal portion and a downwardly extending portion being attached to the end of each arm. When the arms are moved in relation to one another the handling members can encircle and support a load thereby allowing stable movement and loading of large objects such as nursery stock.

Abstract: An apparatus for measuring semiconductor wafer shape that minimizes wafer distortion. The apparatus includes a plurality of wafer gripping fingers for holding a wafer in a predetermined position during wafer measurement. Each finger includes a groove that contacts the edge of the wafer. The groove and the wafer edge have respective radii of curvature, in which the radius of curvature of the groove is greater than that of the wafer edge. Each finger includes a rigid member having a recess formed in a central location at one end thereof, and a compliant material such as PEEK disposed in the recess in which the groove is formed. The compliant material extends a first distance beyond the rigid member at the central groove location and a second shorter distance beyond the rigid member on each side of the central location.

Abstract: Device at tool holder (10) of the kind comprising an essentially C-shaped frame preferably having a long inner range, which frame at its free shank ends carries said tool, for instance a riveting, a glueing or a welding unit. The holder (10) comprises a truss or frame work, which includes an outer and an inner C-shaped frame (11, 23) and a number of slewing brackets (27–32) connected to these. The frames (11, 23) and the slewing brackets (27–32) are arranged to form a number of connected triangular sections, which connection points (18–22, 37) are designed as intersections or joints. The outer C-shaped frame (11) is arranged only to support thrust forces and the inner frame (23) thrust and tensile forces and the slewing brackets (27–32) substantially tensile forces.

Abstract: A clamping plate assembly for movement laterally into and out of engagement with a load includes a main plate member which has front, rear, upper and lower edges. Along the lower edge of the main plate member, an auxiliary plate overlies a portion extending from the lower edge a predetermined distance toward the upper edge thereof, and is removably attached to the main plate member. A yieldable friction material then is over substantially the major portion of the auxiliary plate and the portion of the main plate member not covered by the auxiliary plate.

Abstract: Embodiments of an end effector assembly for a substrate robot are provided herein. In one embodiment, the end effector assembly includes a wrist and a first and a second end effector coupled to the wrist in a spaced apart relationship. The first end effector includes a base coupled to the wrist and a tip coupled to the base opposite the wrist. The base and the tip may be made of the same or different materials. The first and the second end effectors may have different resonant frequencies to minimize vibration. Optionally, a low emissivity coating may be provided on the first and second end effector. The low emissivity coating may further have a plurality of stress relief grooves to reduce or prevent flaking of the coating due to differences in rates of thermal expansion between the coating and the underlying end effector.

Abstract: This invention provides a method and a support device for a wafer transfer process which has a first vertical, second horizontal and third compound angled surfaces, as well as a pair of sidewalls all contiguously connected to one another. The third surface has at least two angled receiving surfaces whereby one of such angled receiving surfaces has a small angle of incline for initially receiving and delivering a wafer. The other angled receiving surface has a steep angle of incline for effectively receiving, holding and transporting a semiconductor wafer by increasing an effective coefficient of friction of the wafer to provide a secure resting point for such wafer during a transfer process while simultaneously increasing the speed thereof. Furthermore, a hole may be provided in the support device for attaching the support device, or a plurality of support devices having holes, to an end-effector.

Abstract: A stake removal tool, in one embodiment, includes a link bar (105, 405), a first handle (110, 410) and a second handle (120, 420) coupled to the link bar, a first gripper (130) attached to the first handle, and a second gripper (140) attached to the second handle. Each of the first and second grippers comprise a first surface (231, 241) and a second surface (232, 242) spaced apart by a circumferential face (233, 243), and at least one circumferential ridge (234, 244) protruding from and extending circumferentially along at least a portion of the circumferential face. The at least one circumferential ridge is substantially parallel to the first and second surfaces. In another embodiment, the first and second handles include integral gripping surfaces (539, 549).

Abstract: A gripper device for loosening, tightening or gripping objects. The gripper device has a support structure with a fixed, object contact surface, that preferably has a high friction surface. One end of a pivot arm is pivotally attached to the support structure. The pivot arm has a free end. A cinch strap with two ends is provided. On end of the cinch strap is attached to the free end of the pivot arm and another end of the cinch strap is fixed to the structure. By moving a jar or other cylindrical object into turning contact with the cinch strap, that object will be captured and held in place.

Abstract: The present invention provides grasping mechanisms, gripper apparatus/systems, and related methods. Grasping mechanisms that include stops, support surfaces, and height adjusting surfaces to determine three translational axis positions of a grasped object are provided. In addition, grasping mechanisms that are resiliently coupled to other gripper apparatus components are also provided.

Abstract: The invention relates to a holding device for wafers in an arrangement for wafer inspection, comprising two grippers (11, 12), each of which, in the closed state of the holding device (8), encloses a subsection of the wafer circumference and which are connected to a drive device (27) and, when the latter is driven, the grippers (11, 12) move away from each other for the purpose of opening the holding device (9) and move toward each other for the purpose of closing the holding device (8), and a holding arm (13), on which the two grippers (11, 12) are pivotably mounted. In this case the holding arm (13) is mounted such that it can rotate about an axis (A) which lies substantially in the plane covered by the wafer (W), so that after a rotation through 180° about the axis (A), a wafer (W) held between the grippers (11, 12) has been turned.

Abstract: A substrate loading/unloading apparatus include a body part, an arm part connected to the body part for loading/unloading a substrate, a finger connector connected to the arm part, and a plurality of finger parts connected to the finger connector, wherein each of the finger parts include a plurality of protrusions to contact a bottom surface of the substrate.

Abstract: A device for gripping a hose includes an annular collar having an inner diameter large enough to slidably receive the hose there through and first and second gripping members pivotally mounted at diametrically opposite positions on the collar. Each of the gripping members has an elongate leg portion and a perpendicularly oriented foot portion pivotally mounted to the collar. The lower surfaces of the foot portions have ripples with crests spaced a distance apart equal to the spacings between adjacent ridges of the spiral on the hose to be retained.

Abstract: A rotary slip for supporting a drill string having a plurality of slip segments connected to define an opening for insertion of the drill string, wherein each slip segment comprises a head region, a toe region, and an inner radial surface axially extending between the head and toe regions, and wherein the inner radial surface of each slip segment comprises a circumferential groove. A plurality of axially aligned drill string gripping inserts are attached to each slip segment between the head region and the circumferential groove, wherein each insert comprises a gripping surface for contacting the drill string. A load ring is disposed within the circumferential groove of each slip element, the load ring comprising at least one securing element which is engaged by one of the plurality of axially aligned inserts to secure the load ring within the circumferential groove.

Abstract: A gripper having a grip tip for parts having different shapes is provided for a surface mount device. The gripper includes a piston installed inside of a through hole formed in a holder, and lifted or lowered by air flown in/out through the through hole, a moving unit connected to fixed blocks of the holder by a connection device configured to increase or decrease an interval according to the lifting or lowering operation of the piston, and multiple grip tips configured to support at least three points of a parts having a different shape.

Abstract: A material holding implement including a material holding member adapted for holding a material. The material holding member is made of a thermoplastic resin. The thermoplastic resin is deformable to a material holding configuration at a temperature greater than a constant temperature, and fixable to form a material holding region adapted to apply holding forces on a circumference of the material in a using temperature range lower than the constant temperature. Furthermore, a method of changing a form of the material holding member is provided. The method includes softening the resin by increasing a temperature above the constant temperature, molding the resin into a flat plate by pinching together upper and lower dies having flat surfaces opposing each other, pinching the resin using the upper and lower dies to form a material holding configuration, and fixing the resin by decreasing the temperature below a softening point of the resin.

Abstract: Generally, an end effector assembly for a substrate transfer robot is provided. In one embodiment, an end effector assembly for supporting a quadrilateral substrate during substrate transfer includes an end effector having an inner edge support disposed on a first end and a first outer edge support disposed on a distal end. The first end of the end effector is adapted for coupling to a robot linkage. The first inner edge support has a face that is oriented parallel to and facing the face of the first outer edge support. This configuration of edge supports captures the substrate to the end effector thereby minimizing substrate slippage during transfer. In another embodiment, lateral guides may be utilized to further enhance capturing the substrate along the edges of the substrate open between the inner and outer edge supports.

Abstract: The present invention provides grasping mechanisms, gripper apparatus/systems, and related methods. Grasping mechanisms that include stops, support surfaces, and height adjusting surfaces to determine three translational axis positions of a grasped object are provided. In addition, grasping mechanisms that are resiliently coupled to other gripper apparatus components are also provided.

Abstract: A gripping apparatus is disclosed. The gripping apparatus includes a first finger including a plurality of first sawteeth along a first longitudinal end and a receiving area being located between adjacent sawteeth and a second finger including a plurality of complementary sawteeth juxtaposed from the first sawteeth. One of the first and second fingers is movable relative toward the other of the first and second fingers such that an object to be gripped is positioned in the receiving area by one of the plurality of complementary sawteeth. The object is releasably retained against the receiving area by the second finger. A method of gripping an object is also disclosed.

Abstract: An apparatus to be used in a gripping assembly for gripping a cylindrical member is disclosed. The apparatus includes a jaw body, a gripping insert, and a rotatable camming member disposed between the jaw body and gripping insert. The rotatable camming member rotates in response to the applied clamping and rotational forces of the gripping assembly and operates to intensify the force provided by the jaw to the gripping insert which is engaged with a cylindrical member.

Abstract: The invention relates to a gripper device. According to one aspect, the gripper device includes fingers with grasping ends. The gripper device includes a mechanism to cause the grasping ends to open and close. When the mechanism is engaged, the grasping ends open and close to define a circumference. According to another aspect, the gripper device includes fingers, an upper flat member, and a lower flat member. The fingers have grasping ends. The fingers are inserted into the upper flat member and lower flat member. When the upper flat member is rotated relative to the lower flat member, the grasping ends of the fingers open and close. According to another aspect, a gripper assembly has a gripper device with fingers and a rotating member. The gripper assembly also has a motor and mechanism for rotating the rotating member. The gripper device opens or closes the grasping ends in response to the rotation of the rotating member.

Abstract: A microtool for manipulating components is proposed. A component is held with the microtool by at least one gripper arm having a gripping surface, the gripper being movable by an actuator structure. Also provided is a device for releasing the held component from the gripping surface, whereby an acceleration is induced in the gripper arm for at least a time, and the force of inertia resulting from the inertial mass of the held component and the exerted acceleration will be greater than any force of adhesion acting between the held component and the gripping surface. A process is also proposed for producing a microtool or a microtool part, in particular a microgripper by micropatterning.

Abstract: A robot arm having wafer-scratching prevention function is disclosed. A touch control method is used in the robot arm to detect the abnormal situation of scratching a wafer, thereby promptly stopping the motion of robot arm from continuously accessing the wafer, so as to prevent a large amount of wafers from scrapping. The robot arm having wafer-scratching prevention function has an electrically conductive layer and an electrically non-conductive layer, wherein the non-conductive layer is located on one surface of the robot arm contacting a target wafer to be accessed, and the conductive layer is on the other surface opposite to the non-conductive layer. The conductive layer is connected to a circuit to generate a stopping signal for stopping the robot arm from continuously accessing the wafer.

Abstract: Generally, an end effector assembly for a substrate transfer robot is provided. In one embodiment, an end effector assembly for a substrate transfer robot includes an end effector having a plurality of metallic pads disposed thereon. A polymer pad is disposed on each metallic pad wherein a ratio of an exposed portion of an upper surface of the metallic pad to a top surface of the polymer pad is at least about 3.5 to 1. In another embodiment, an end effector assembly for a substrate transfer robot includes an end effector having a plurality of polymer pads disposed thereon. Each polymer pad includes a fluoropolymer coating disposed on at least a top surface of the polymer pad. The metallic pad and/or the coating allows the polymer pad to be at least temporarily utilized in applications above its normal operating temperature.

Abstract: A holding device includes a support frame; multiple pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of each one pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging between the holding fixture pulley and the frame pulley and having one end pulled in one direction and the other end fixed to the support frame; and a drive source that pulls the drive rope. With this configuration, when the drive rope is pulled by the drive source, holding fixtures constituting each one pair of holding fixtures are linked to move symmetrically to each other in a direction that holds an object to be held, each one pair of holding fixtures move independently of other pairs of holding fixtures, and the holding fixtures of each one pair of holding fixtures are movable toward and away from each other on a straight line or on two parallel straight lines on a plane of the support frame.