US Patent 10478974 End of arm tools for soft robotic systems

Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.