Inventors:
Bradley Delton Veatch - Westminster CO, US
Joseph David Scott - Centennial CO, US
Assignee:
ADA Technologies, Inc. - Littleton CO
International Classification:
B25J 15/08, A61F 2/54
Abstract:
A prehensor is provided comprising embodiments of a variable mechanical advantage mechanism, the prehensor including a first mechanical advantage for sizing an object, and a second mechanical advantage for gripping the object. Embodiments of the variable mechanical advantage mechanism include a brake assembly and multiple embodiments of a brakeless assembly. Additionally, multiple embodiments of a selectable voluntary opening/voluntary closing mechanism are provided, whereby a single prehensor can be switched back and forth between a voluntary closing mode and a voluntary opening mode. Additional embodiments include a safety clutch, an improved prehensor tendon, replaceable digits, and self decontaminating digits.