GRIPPER TOOL Russian patent published in 2015 - IPC B25J15/12 A61F2/54 

FIELD: medicine.

SUBSTANCE: body bears pins. Each pin comprises movable links connected sequentially to parallel rotation axes by means of hinges. Each hinge comprises freely rotating units enclosed by a rope, one end of which is attached on a drive, and the other end - on the last link - extends within its link and encloses the units in the same direction. Hinge axes carry springs with their one end connected to the unit and their other end - to the movable link; a rigidity of each spring following the body is more than the previous one. The units coaxial with the axis connecting the movable links with the body are mounted on a drive shaft, connected thereto through a spring, one end of which is connected to the unit, and the other one - to the drive shaft common for the pins, the axes of which connecting the movable axes to the body, are coaxial.

EFFECT: reliable retention of objects with complex surface geometry, downsizing and weight reduction of the gripper tool.

2 dwg