Linkage system for prehending objects using impactive forces

A method of prehending an item using an end effector, the method comprising:

• bringing the item into proximity of a sealing surface at a distal end of a pliable body member;
• applying a suction force to an inner recess defined within the pliable body member, thereby causing the end effector to apply an astrictive force to the item;
• and
• applying, using a plurality of actuators connected with lateral portions of a deformable plate through a linkage system, at least a first force to deform the deformable plate and cause the end effector to apply an impactive force to the item.

An end effector for prehending items, the end effector comprising:

• a plurality of actuators;
• an interface system comprising a deformable plate;
• and
• a linkage system between the plurality of actuators and the interface system, the linkage system comprising, for each actuator of the plurality of actuators:
• a first link connected with:
• an end of the actuator at a first joint, the first joint at a first radial distance from a central axis of the end effector;
• and
• a central structural member via a second joint, the second joint at a second radial distance less than the first radial distance;
• and
• a second link connected with:
• the first link at a third joint, the third joint at a third radial distance greater than the first radial distance;
• and
• a lateral portion of the deformable plate at a fourth joint, the fourth joint at a fourth radial distance greater than the third radial distance,
• wherein at least one component of the linkage system is rotatable about a rotation axis to cause the deformable plate to rotate about the central axis.