Polyvalor, Limited Partnership

Lionel Birglen

A mechanical finger has a base adapted to be connected to an actuator for being displaced in at least one degree of actuation, and has two or more phalanges. A first phalanx is rotationally connected at a proximal end to the base, and a second phalanx is rotationally connected at a proximal end to a distal end of the first phalanx. A transmission linkage providing at least one rotational degree of freedom (DOF) between the base and a distal-most one of the phalanges. Passive rotational DOF joints are between the phalanges, between the base and the first phalanx, and in the transmission linkage, whereby the mechanical finger has a passive state of actuation in which the base, the at least two phalanges and the transmission linkage remain in a constant orientation relative to one another through displacement of the base caused by the actuator absent a contact of one of the phalanges with an object, and a grasping state of actuation in which a contact of at least one of the phalanges with an object causes a variation of the orientation of at least one of the phalanges relative to the base through displacement of the base caused by the actuator.

Mechanical finger for grasping apparatus

A mechanical finger comprises at least three phalanges, with a base phalanx pivotally connected at a proximal end to a base. At least one intermediate phalanx is pivotally connected at a proximal end to a distal end of the base phalanx. An end phalanx is pivotally connected at a proximal end to a distal end of a distal-most one of the at least one intermediate phalanx. The phalanges pivot about parallel pivot axes. A transmission linkage is between the base and the end phalanx. The transmission linkage has links and joints unconnected to any of the phalanges other than the end phalanx, the transmission linkage being configured so as not to constrain the degrees of freedom of the mechanical finger.

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Brossard, Canada

Lionel Birglen