US Patent 10011025 Articulating gripper tooling

Articulating gripper tooling for gripping an object, the articulating gripper tooling comprising: an articulating finger jaw including a slot; a gripping element including a shaft and at least one finger attached to the shaft, the shaft having a longitudinal axis; and a locking pin disposed through the slot and coupling the shaft to the articulating finger jaw; wherein the gripping element is free to rotate a predetermined amount about the longitudinal axis of the shaft, limited by the locking pin contacting a surface of the articulating finger jaw and/or an adjustment element.