Modular articulating gripper

A gripper array for gripping a workpiece, comprising:

• a manifold;
• and
• a plurality of grippers mounted on the manifold, each gripper of the plurality of grippers including:
• a base;
• at least one middle segment pivotally connected to the base;
• a distal segment pivotally connected to the at least one middle segment;
• at least one actuator disposed within the base;
• an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, the at least one actuator of each gripper of the plurality of grippers being configured for linearly and nonrotationally moving the proximal end of the adducting tendon;
• and
• an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment,
• wherein the at least one middle segment and the distal segment of each gripper of the plurality of grippers are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.

A method for gripping a workpiece, comprising the steps of:

• providing a gripper including a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base, an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, the at least one actuator being configured for linearly and nonrotationally moving the proximal end of the adducting tendon, and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment;
• gripping the workpiece, by the at least one middle segment and the distal segment, upon moving the at least one actuator in a first direction;
• and
• ungripping the workpiece, by the at least one middle segment and the distal segment, upon moving the at least one actuator in a second direction which is opposite to the first direction.