Self-adaptive mechanical finger and method

A mechanical finger of the type having three phalanges connected to a base and supported by a transmission linkage, the mechanical finger comprising:

• a first and a second ternary link, the first and the second ternary link being pivotally connected to one another;
• a first link sequence having at least three binary links actively interconnected to one another, with ends of the first link sequence being pivotally connected to the first and the second ternary link;
• and
• a second link sequence having at least three binary links actively interconnected to one another, with ends of the second link sequence being pivotally connected to the first and the second ternary link;
• the ternary links and the link sequences being arranged such that one of the binary links forms an end phalanx, and such that one of the ternary links forms the intermediate phalanx.

A mechanical finger of the type having three phalanges connected to a base and supported by a transmission linkage, the mechanical finger comprising:

• a first and a second ternary link;
• an isolated link having ends pivotally connected to the first and the second ternary link;
• a first link sequence having at least three binary links actively interconnected to one another, with ends of the first link sequence being pivotally connected to the first and the second ternary link;
• and
• a second link sequence having at least two binary links actively interconnected to one another, with ends of the second link sequence being pivotally connected to the first and the second ternary link;
• the ternary links, the isolated link and the link sequences being arranged such that a sequence of a base phalanx, an intermediate phalanx and an end phalanx comprises at least one of the binary links and at least one of the ternary links.