Patent attributes
A gripper tooling includes: a gripper having a gripper body and an angular jaw; a rotor fixedly connected to the angular jaw; and a tooling member for gripping a workpiece, the tooling member including: a base pivotally connected to the rotor; a middle segment pivotally connected to the base; a distal segment pivotally connected to the middle segment; an adducting tendon having a proximal end attached to the rotor and a distal end attached to the distal segment, the rotor for rotating relative to the base and thereby for tensioning the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment such that the tooling member can autonomously grip the workpiece as the angular jaw rotates toward the workpiece and the tooling member autonomously returns to an ungripped position as the angular jaw rotates away from workpiece.
