SG10201801506WA - An end effector - Google Patents

Abstract

AN END EFFECTOR Described herein is an end effector comprising a base structure and a plurality of fingers movably coupled to the base structure. Each of the plurality of fingers extends from the base structure to terminate at a free end and is for displacing between an open position and a closed position with each of the plurality of fingers having an inside surface. The inside surface has a first segment and a second segment. At least one of the plurality of fingers having at least one protrusion formed on the inside surface thereof. An opening of the pocket is defined by the free ends of the plurality of fingers to enable passage of the largest diametric girth of a bulbous portion of an article therethrough when in the open position, and to impede travel of the largest diametric girth of the bulbous portion of the article when in the closed position to thereby enable gripping of the bulbous portion of the article by the plurality of fingers. The at least one protrusion is for abutting the bulbous portion of the article being gripped by the plurality of fingers. Figure 1