Robot gripper

A robot gripper, comprising:

• a main gripper body including a connecting flange configured to couple the gripper to a tool flange of a robot arm;
• a base link mounted on the main gripper body for rotation about a first axis of rotation by a first pivot joint, the first pivot joint automatically adjustable by a first drive motor:
• a first gripper finger supported on the main gripper body by a second pivot joint for rotation with respect to the base link about a second axis of rotation that is parallel to the first axis of rotation, the second pivot joint automatically adjustable by a second drive motor;
• at least one additional gripper finger supported on the main gripper body;
• wherein the second pivot joint is configured to individually adjust the first gripper finger by the second drive motor independently of the at least one additional gripper finger;
• wherein the at least one additional gripper finger comprises at least a second gripper finger and a third gripper finger;
• and
• at least one of the first gripper finger, the second gripper finger, or the third gripper finger is attached to a respective finger support by a lever that aligns the respective gripper finger such that a longitudinal extent of the gripper finger is at least substantially parallel to an axis of rotation of a respective pivot joint that bears the finger support, and the gripper finger is spaced a distance from the axis of rotation;
• wherein the at least one first gripper finger, second gripper finger, or third gripper finger is spaced a variable, distance from the axis of rotation.

A robot gripper, comprising:

• a main gripper body including a connecting flange configured to couple the gripper to a tool flange of a robot arm;
• a base link mounted on the main gripper body for rotation about a first axis of rotation by a first pivot joint, the first pivot joint automatically adjustable by a first drive motor:
• a first gripper finger supported on the main gripper body by a second pivot joint for rotation with respect to the base link about a second axis of rotation that is parallel to the first axis of rotation, the second pivot joint automatically adjustable by a second drive motor;
• and
• at least one additional gripper finger supported on the main gripper body;
• wherein the second pivot joint is configured to individually adjust the first gripper finger by the second drive motor independently of the at least one additional gripper finger;
• wherein the at least one additional gripper finger comprises at least a second gripper finger and a third gripper finger;
• and
• at least one of the first gripper finger, the second gripper finger, or the third gripper finger comprises at least one outer shell wall section that is adjustable with respect to a center axis of the respective gripper finger at a distance from the center axis, the center axis extending substantially parallel to a longitudinal extent of the respective gripper finger.