WO1998015393A1

WO1998015393A1 - Robotic gripper

Info

Publication number: WO1998015393A1
Application number: PCT/US1996/020360
Authority: WO
Inventors: Douglas W. Mills
Original assignee: Fabco Air, Inc.
Priority date: 1996-10-07
Filing date: 1996-12-16
Publication date: 1998-04-16

Abstract

A robotic gripper has fluid-actuated pistons (8, 9, 31, 35, 39, 43, 56, 59) which actuate oppositely disposed gripping jaws (4, 5, 74). The fluid is preferably a gas such as air for most use requirements but can be a hydraulic liquid for particular use requirements. Separate pistons that are fluid-actuated in opposite directions have equal or near equal surface areas to provide high equality of gripping pressure in response to equal rate of supply of pressure of actuating fluid. High precision of linear travel of the gripping jaws in opposite directions is assured by optional pluralities of either cylindrical or angular slideways (6, 7, 64, 67, 68, 70, 71, 72, 73) having close proximity to the gripping jaws in order to impart high precision of the slideways to high-precision positioning of the gripping jaws. Resistance to bending moment and high rigidity of the gripping jaws also are provided by the close proximity of gripping jaws to slideways. Surface areas of the fluid-actuated pistons can be sized and shaped for particular use requirements.

Description

ROBOTIC GRTPPER

This is a continuation-in-part of U. S. Patent Application, Serial Number

08/520,024 which was filed on August 28, 1995 and titled "GRIPPING

DEVICE" .

Background of the Invention

1. Field of the Invention.

This invention relates to piston-actuated pneumatic and hydraulic grippers

that are two-way pressured for use on automation machinery and manual

machinery to grasp objects in order to move them as desired in a wide variety of

manufacturing, storage and handling processes.

2. Relation To Prior Art

Hydraulic gripping devices for robotic and manually operated machinery

have proliferated in response to needs for labor-saving devices. None are known

however, to have gripping capacity equally in opposite directions together with

rigidity, reliability, compactness and adaptability to diverse uses in a manner

taught by this invention.

Summary of the Invention

In light of need for improvement of gripping devices for robotic and

manual machinery, objects of this invention are to provide a robotic gripper

which: Has a high level of equality of gripping pressure in opposite directions in

order to grasp inside as well as outside peripheral surfaces of objects;

Grasps and releases quickly in either inside or outside gripping directions;

Has high gripping pressure in either gripping direction;

Can be constructed for a wide range of use requirements;

Accepts a wide range of gripping and grasping tools for different use

requirements;

Is compact, light and inexpensive to produce; and

Has high rigidity, reliability and accuracy of gripping for high-precision

robotic and manual product-handling processes.

This invention accomplishes these and other objectives with a robotic

gripper having fluid-actuated pistons which actuate oppositely disposed gripping

jaws. The fluid is preferably a gas such as air for most use requirements but can

be a hydraulic liquid for particular use requirements. Separate pistons that are

fluid-actuated in opposite directions have equal or near equal surface areas to

provide high equality of gripping pressure in response to equal rate of supply of

pressure of actuating fluid. High precision of linear travel of the gripping jaws

in opposite directions is assured by optional pluralities of either cylindrical or

angular slideways having close proximity to the gripping jaws in order to impart

high precision of the slideways to high-precision positioning of the gripping jaws. Resistance to bending moment and high rigidity of the gripping jaws also are

provided by the close proximity of gripping jaws to slideways. Surface areas of

the fluid-actuated pistons can be sized and shaped for particular use requirements.

Brief Description of Drawings

This invention is described by appended claims in relation to description

of a preferred embodiment with reference to the following drawings which are

described briefly as follows:

FIG. 1 is a perspective view of a robotic gripper having a plurality of two-

way cylinder and piston systems as slideways for opposed gripping jaws;

FIG 2 is a partially cutaway top view of the FIG. 1 illustration having a

synchronizer with sliding pivotal contact of a rocker arm and gripper pins;

FIG. 3 is a partially cutaway side view of the FIGS. 1-2 illustration;

FIG. 4 is a partially cutaway end view of a first-base end of the FIG. 1

illustration;

FIG. 5 is a partially cutaway end view of a second-base end of the FIG.

1 illustration;

FIG. 6 is a partially cutaway side view of an embodiment having single-

acting high-force pistons;

FIG. 7 is a partially cutaway side view of an embodiment having double-

acting high-force pistons; FIG. 8 is a partially cutaway top view of a long-stroke synchronizer having

a rocker arm in pivotal contact with linkages attached pivotally to gripping jaws

in halfway position;

FIG. 9 is a partially cutaway top view of a long-stroke synchronizer having

in fully open position;

FIG. 10 is a partially cutaway top view of a long-stroke synchronizer

having a rocker arm in pivotal contact with linkages attached pivotally to gripping

jaws in fully closed position;

FIG. 11 is a partially cutaway top view of an embodiment having opposite-

end shafts of double-acting pistons as the slideways for opposed gripping jaws in

halfway position and having a linkage synchronizer with links pivotal centrally

on the gripping jaws;

FIG. 12 is a partially cutaway top view of an embodiment having opposite-

fully open position and having a linkage synchronizer with links pivotal centrally

on the gripping jaws;

FIG. 13 is a partially cutaway top view of an embodiment having opposite-

end shafts of double-acting pistons as the slideways for opposed gripping jaws in fully closed position and having a linkage synchronizer with links pivotal

centrally on the gripping jaws;

FIG. 14 is a bottom view of a gripping jaw having fastener orifices for

material-handling attachments;

FIG. 15 is a sectional side view of a gripping jaw attached to a shaft of a

double-acting piston and having a "T" slideway on a top of an "L" base of a

gripping jaw;

FIG. 16 is a sectional side view of a gripping jaw attached to a shaft of a

double-acting piston and having a "V" slideway on a top of an "L" base of a

gripping jaw;

FIG. 17 is a partially cutaway end view of an embodiment having a "T"

slideway on a top of an "L" base of a gripping jaw;

FIG. 18 is a partially cutaway end view of an embodiment having a "V"

slideway on a top of an "L" base of a gripping jaw;

FIG. 19 is an end view of an embodiment with the gripping jaws having

side walls with channel slideways and corresponding ridge walls that are

perpendicular to the side walls;

FIG. 20 is an end view of an embodiment with the gripping jaws having

side walls with V-slot slideways and corresponding V-slideway walls with design

angularity to the side walls; FIG. 21 is an end view of an embodiment with the gripping jaws having

side walls with channel slideways and corresponding ridge walls with design

perpendicularity to the side walls;

FIG. 22 is a partially cutaway side view of an embodiment having

opposite-end shafts of double-acting pistons as the slideways for opposed gripping

jaws in halfway position, having a linkage synchronizer with links pivotal

centrally on the gripping jaws, and having a slideway on a top of an "L" base of

a gripping jaw;

FIG. 23 is a partially cutaway side view of an embodiment having

jaws in halfway position, having a linkage synchronizer with links pivotal

centrally on the gripping jaws, and having side walls with slideways on opposite

sides of the gripping jaws;

FIG. 24 is a top view of side walls on opposite sides of a gripping jaw;

FIG. 25 is a top view of a slideway on top of an "L" base on an L-shaped

gripping jaw;

FIG. 26 is a partially cutaway side view of an embodiment having a

multiple-piston slideway with I-shaped gripping jaws; FIG. 27 is a partially cutaway side view of an embodiment having shafts

of double-acting pistons in combination with slideway contact of gripping jaws

with gripper bases as the slideway in sliding contact with I-shaped gripper bases;

FIG. 28 is a partially cutaway side view of an embodiment having

optionally a V slideway on sidewalls extended from a first gripping jaw

proximate opposite sides of a jaw shaft and a T slideway on sidewalls extended

from a second gripping jaw proximate opposite sides of a jaw shaft as slideway

components; and

FIG. 29 is a partially cutaway side view of an embodiment having

matching channel walls and ridge walls on sidewalls extended from proximate

opposite sides of jaw shafts of a first gripping jaw and a second gripping jaw

having an "I" shapes as slideway components.

Description of Preferred Embodiment

In the drawings, reference is made first to FIGS. 1-5. A first gripper base

1 and a second gripper base 2 are oppositely disposed and affixed to a gripper-

attachment base 3. A first gripping jaw 4 and a second gripping jaw 5 are

oppositely disposed slidingly on a slideway in sliding contact with the first

gripper base 1 and the second gripper base 2. In a preferred embodiment, a

design plurality of first-base cylinders 6 have parallel axes in the first gripper

base 1 and a design plurality of second-base cylinders 7 have parallel axes in the second gripper base 2. Axes of the first-base cylinders 6 are in line

concentrically with axes of oppositely disposed second-base cylinders 7.

A design plurality of first-jaw pistons 8 are attached to the first gripping

jaw 4 and positioned in first-jaw first-base cylinders 6 and in first-jaw second-

base cylinders 7 which are in line with concentric axes. A design plurality of

second-jaw pistons 9 are attached to the second gripping jaw 5 and positioned in

second-jaw second-base cylinders 7 and in second-jaw first-base cylinders 6

which are in line with concentric axes. The first-jaw pistons 8 have first-piston

inward-pressure heads 10 in first-jaw first-base cylinders 6 and first-piston

outward-pressure piston heads 11 in first-jaw second-base cylinders 7. The

second-jaw pistons 9 have second-piston inward-pressure heads 12 in second-jaw

second-base cylinders 7 and second-piston outward-pressure heads 13 in second-

jaw first-base cylinders 6.

Attachment of first gripping jaws 4 to first-jaw pistons 8 and attachment of

second gripping jaws 5 to second-jaw pistons 9 can be accomplished with set

screws 14 and/or other conventional or innovative means. Illustrated for

attachment in this embodiment are set screws 14 for bottom first-jaw pistons 8

and bottom second-jaw piston 9. Top first-jaw pistons 8 and top second-jaw

pistons 9 are shown to be attached to first gripping jaws 4 and second gripping jaws 5 are shown to be attached with first-jaw-synchronizer pin 15 and with

second-jaw-synchronizer pin 16 respectively.

The first gripping jaws 4 can be actuated inwardly and outwardly from the

first gripper base 1 by pressure actuation of the first-jaw pistons 8 as a result of

their set-screw 14 or other attachment at first-jaw apertures 17. Likewise, the

second gripping jaws 5 can be actuated inwardly and outwardly from the second

gripper base 2 by pressure actuation of the second-jaw pistons 9 as a result of

their set-screw 14 or other attachment at second-jaw apertures 18. The first

gripping jaws 4 slide on second-jaw pistons 9 in second-jaw apertures 18. In

like manner, the second gripping jaws 5 slide on first-jaw pistons 8 in first-jaw

apertures 17.

For this embodiment, a slideway in sliding contact with the first gripper

base 1 and the second gripper base 2 is provided by sliding contact of the first-

jaw piston 8 in the first-base cylinder 6, in the second-base cylinder 7 and in the

second-jaw apertures 18 in combination with sliding contact of the second-jaw

piston 9 in the first-base cylinder 6, in the second-base cylinder 7 and in the first-

jaw apertures 17. This is a plurality of concentric cylinder systems and piston

systems that provides equality of pressure in opposite directions in addition to

providing rigidly reciprocative travel of the gripping jaws 4 and 5. Accurate synchronization of reciprocative travel of the gripping jaws 4 and

5 is provided by a rocker arm 19 that is pivotal centrally on a rocker-arm axle 20

that is attached to the gripper-attachment base 3. The first-jaw-synchronizer pin

15 is in sliding pivotal contact with a first synchronizer slot 21 in the rocker arm

19. Oppositely disposed, the second-jaw-synchronizer pin 16 is in sliding pivotal

contact with a second synchronizer slot 22 in the rocker arm 19. Accurate

synchronization allows accurate positioning of the gripping jaws 4 and 5 for

precision operations related to manufacturing, automation and material handling.

In order to position tops of the gripping jaws 4 and 5 closely together and

yet have the rocker-arm axle 20 extend through the rocker arm 19, jaw recesses

23, shown in dashed lines, can be provided.

Pneumatic or hydraulic pressure can be conveyed to and from the first-base

cylinders 6 and the second-base cylinders 7 in accordance with design

preferences. Illustrated are an inward-pressure line 24 leading from an inward-

pressure connection 25 and an outward-pressure line 26 leading from an outward-

pressure connection 27. The lines 24 and 26 can be within the gripper-

attachment base 3 and the gripper bases 1 and 2 as shown or separate, depending

on design preferences. Trade-off factors include cost of long-hole drilling versus

operational safety for the internal positioning that is illustrated. With whatever

conveyance method is selected, the inward-pressure line 24 is branched and directed appropriately to first-base cylinders 6 having first-jaw pistons 8 attached

to first gripping jaws 4 and to second-base cylinders 7 having second-jaw pistons

9 attached to second gripping jaws 5 for inward actuation. Oppositely for

outward actuation, the outward-pressure line 26 is branched and directed

appropriately to second-base cylinders 7 having first-jaw pistons 8 attached to

first gripping jaws 4 and to first-base cylinders 6 having second-jaw pistons 9

attached to second gripping jaws 5.

The inward-pressure line 24 can be a low-pressure return line and the

outward-pressure line 26 also can be a low-pressure return line, particularly for

hydraulic systems. For pneumatic systems in which air is expended or disposed

after use for pressurization, separate exhaust lines can be employed. Inward-

pressure lines 24 and outward-pressure lines 26 and/or exhaust lines can be at

opposite ends of the gripper-attachment base in accordance with design

preference and the type of fluid pressure employed.

Select end tools or material-handling attachments can be affixed to the

gripping jaws 4 and 5 with various fastener means such as threaded fastener

orifices 28.

The gripper-attachment base 3 is a form of hanging base from which the

first gripper base 1 and the second gripper base 2 are suspended. The gripper-

attachment base 3 is suspended from select automation or robotic equipment arms that can be attached at equipment-fastener orifices 29 or other attachment means.

The gripper-attachment base 3 is representative of a variety of shapes and forms

foreseeable for providing similar functions of equipment attachment and base

structure.

Structural fasteners 30 can be provided as needed for attaching the gripping

jaws 4 and 5 to the gripper-attachment base 3. Single structural fasteners 30 as

shown are preferable in order to allow self-centering of axes of apertures of the

cylinders 6 and 7 with the pistons 8 and 9.

Referring to FIG. 6, a first high-pressure piston 31 in sliding-seal contact

with circumferential internal periphery of a first high-pressure cylinder 32 in a

first high-pressure cylinder housing 33 can be employed to provide single-acting

pressure through one or more high-pressure rods 34 in force communication

between the first high-pressure piston 31 and the first gripping jaw 4. Likewise

for the second gripping jaw 5, a second high-pressure piston 35 in sliding-seal

contact with circumferential internal periphery of a second high-pressure cylinder

36 in a second high-pressure cylinder housing 37 can be employed to provide

single-acting pressure through one or more high-pressure rods 34 in force

communication between the second high-pressure piston 35 and the second

gripping jaw 5. Single-action pressure lines 38 are provided for single-action

inward pressurization. The high-pressure rods 34 are free floating to be pressured inwardly by the high-pressure pistons 31 and 35 and to be actuated

outwardly by outward travel of gripping jaws 4 and 5.

Referring to FIG. 7, a first auxiliary piston 39 in sliding-seal contact with

circumferential internal periphery of a first auxiliary cylinder 40 in a first

auxiliary cylinder housing 41 can be employed to provide double-acting pressure

through a first auxiliary shaft 42 in double-acting-force communication between

the first auxiliary piston 39 and the first gripping jaw 4. Likewise for the second

gripping jaw 5, a second auxiliary piston 43 in sliding-seal contact with

circumferential internal periphery of a second auxiliary cylinder 44 in a second

auxiliary cylinder housing 45 can be employed to provide double-acting pressure

through a second auxiliary shaft 46 in double-acting-force communication

between the second auxiliary piston 43 and the second gripping jaw 5. Auxiliary

inward pressure lines 47 and auxiliary outward pressure lines 48 are provided for

double-acting pressurization at opposite ends of the cylinders 40 and 44

respectively in accordance with established practices for double-acting

pressurization of double-acting pistons. Auxiliary outward pressure lines 48 are

represented with dashed lines. The first auxiliary shaft 42 is in sliding-seal

contact with the first gripper base 1 and the second auxiliary shaft 46 is in

sliding-seal contact with the second gripper base 2. In this embodiment, the first auxiliary shaft 42 is attached rigidly to the

first auxiliary piston 39 and to the first gripping jaw 4. Also, the second

auxiliary shaft 46 is attached rigidly to the second auxiliary piston 43 and to the

second gripping jaw 5. A selection of attachment means can be employed. The

auxiliary shafts 42 and 46 can be relatively small in diameter per tensile strength

because only linear force is absorbed by them.

Referring to FIGS. 8-10, synchronization of extra long strokes can be

provided by a first linkage 49 and a second linkage 50. One end of the first

linkage 49 is attached pivotally to a first-jaw linkage pin 51 and the opposite end

is attached pivotally to a first rocker-arm pin 52. In like manner, one end of the

second linkage 50 is attached pivotally to a second-jaw linkage pin 53 and the

opposite end is attached pivotally to a second rocker-arm pin 54. From a halfway

position of the gripping jaws 4 and 5 depicted in FIG. 8 to a fully open position

depicted in FIG. 9 and to a fully closed position depicted in FIG. 10, the rocker

arm 19 can be made to pivot approximately 45 degrees in either direction for a

total of 90 degrees. This is approximately double the synchronized stroke length

of the sliding-pivotal synchronization described in relation to FIGS. 2-3. Some

use conditions will require short and some long synchronization of strokes. They

are optional means of reciprocative synchronization. Illustrated also in FIGS 8-10 is sliding-seal contact of the first-jaw pistons

8 with internal peripheries of the first-base cylinders 6 by means of seal rings 55

in ring grooves in walls of the first-base cylinders 6. Likewise, sliding-seal

contact of the second-jaw pistons 9 with internal peripheries of the second-base

cylinders 7 is by means of seal rings 55 in ring grooves in walls of the second-

base cylinders 7. This is optional to seal rings 55 such as O-rings in piston

grooves as depicted in FIGS. 2-3 and 6-7. Cylinder- wall positioning allows

longer stroke lengths per mass and size of robotic grippers, but with slight loss

of volummetric efficiency for pneumatic systems.

Referring to FIGS. 11-13, the slideway in sliding contact with the first

gripper base 1 and the second gripper base 2 can be opposite-end shafts of

double-acting pistons that are extended in sliding-seal and slide-bearing contact

through opposite heads of double-acting cylinders. A first-jaw double-acting

piston 56 has a first-jaw shaft 57 attached rigidly to a jaw side and extended in

sliding-seal and slide-bearing contact through a jaw end of a double-ended first-

base cylinder 58 to rigid attachment to the first gripping jaw 4. A second-jaw

double-acting piston 59 has a second-jaw-shaft 60 attached rigidly to a jaw side

and extended in sliding-seal and slide-bearing contact through a jaw end of a

double-ended second-base cylinder 61 to rigid attachment to the second gripping

jaw 5. The first-jaw double-acting piston 56 has a first-bearing shaft 62 attached , . _

rigidly to a bearing side and extended in sliding-seal and slide-bearing contact

through a bearing end of the double-ended first-base cylinder 58. The second-

jaw double-acting piston 59 has a second-bearing shaft 63 attached rigidly to a

bearing side and extended in sliding-seal and slide-bearing contact through a

bearing end of the double-ended second-base cylinder 61.

Synchronization of reciprocative strokes with the rocker arm 19 can be the

same as described in relation to FIGS. 2-3 or to FIGS 8-10. An optional

difference can be central attachment of the first-jaw linkage pin 51 to a central

position on the first gripping jaw 4 and central attachment of the second-jaw

linkage pin 53 to a central position on the second gripping jaw 5. Meshing of the

parts is aided by angular structure of the rocker arm 19 and the linkages 49 and

50 similar to the configurations depicted. Various groove configurations also can

be employed. Central positioning on the gripping jaws 4 and 5 aids concentricity

of force distribution.

FIG. 14 illustrates an approximate shape of a gripping jaw 4 from a bottom

view with threaded fastener orifices 28 extended through an "L" base for

embodiments described in relation to FIGS. 1-10. For embodiments described

in relation to FIGS. 15-27, an optional slideway is outlined in dashed lines for

positioning on a top of the "L" base. Referring to FIGS. 15, 17 and 11-13, a first gripping base 4 having a first-

jaw shaft 57 attached to it also has a "T" slideway 64 affixed to a top of an "L"

base. The "T" slideway 64 can be attached to the first gripping jaw 4 or to the

second gripping jaw 5 with guide way bolts 65 in order to avoid construction

problems of close angular forms with unitary construction. "T" slideways 64

slide in T-slot slideways 66 on bottoms of gripper bases 1 and 2.

Referring to FIGS. 16, 18 and 11-13, a first gripping jaw 4 having a first-

jaw shaft 57 attached to it has a "V" slideway 67 affixed to a top of an "L" base.

The "V" slideway 67 can be attached to the first gripping jaw 4 or to the second

gripping jaw 5 with guide way bolts 65 in order to avoid construction problems

of close angular forms with unitary construction. "V" slideways 67 slide in V-

slot slideways 68 on bottoms of gripper bases 1 and 2.

Referring to FIGS. 19-24, side walls 69 with wall slideways can be affixed

to first-jaw extensions of "L" bases of gripping jaws 4 and 5 to slide in base

slideways in the first gripper base 1 and in the second gripper base 2. The wall

slideways and the base slideways can be channel slideways having designedly

perpendicular channel walls 70 and corresponding ridge walls 71 with design

perpendicularity to the side walls 69 as illustrated in FIGS. 19 and 21.

Optionally, the wall slideways and the base slideways can be V-slot slideways

having V-channel walls 72 and corresponding V-slideway walls 73 with design angularity to the side walls 69 as illustrated in FIGS. 20, 22-23, 25 and 27.

Design perpendicularity of channel walls 70 and ridge walls 71 illustrated in FIG.

19 can be less than five degrees off of perpendicularity to the side walls 69 in

order to provide fit adjustment without allowing angular cam action to diminish

effectiveness of channel-wall contact.

Referring to FIGS. 26-27, I-shaped gripping jaws 74 are one of a selection

of options to L-shaped gripping jaws 4 and 5. Generally, differences in shapes

of the gripping jaws 4, 5 and 74 can be compensated by shapes of end tools and

material-handling attachments. For attachment purposes, also, however,

different shapes and forms of gripping jaws 4, 5 and 74 are foreseeable.

Illustrated in particular by FIGS. 26-27 is combining different components of this

invention for different design requirements.

Referring to FIGS 28-29, sidewalls 69 can be extended from I-shaped

gripping jaws 74 proximate opposite sides of the first jaw shaft 57 and the second

jaw shaft 60 rather than from a base of a first gripping jaw 4 and a base of a

second gripping jaw 5. This centralizes forces on the shafts 57 and 60 and on

slideways in slideway contact between sidewalls and the gripper bases 1 and 2.

The slideways can be either T-slideways 64 in combination with T-slot

slideways 66 as depicted on a right side of FIG. 28; V-channel walls 72 in

combination with V-slideway walls 73 as depicted on a left side of FIG. 28; or designedly perpendicular channel walls 79 in combination with corresponding

ridge walls 71 as depicted on both sides of FIG. 29. "L" bases of gripping jaws

4 and 5, represented by dashed lines for various positioning, are optional for

embodiments in which sidewalls 69 are attached to gripping bases 74 proximate

opposite sides of jaw shafts 57 and 60. Optionally also, the sidewalls 69 can be

attached to "L" legs of first gripping jaws 4 and second gripping jaws 5 at

positions proximate opposite sides of jaw shafts 57 and 60 as indicated by an

upper positioning of "L" bases in dashed lines in FIGS 29-29.

A new and useful robotic gripper having been described, all such

foreseeable modifications, adaptations, substitutions of equivalents, mathematical

possibilities of combinations of parts, pluralities of parts, applications and forms

thereof as described by the following claims and not precluded by prior art are

included in this invention.

Claims

CLAIMSWhat is claimed is:

1. A robotic gripper comprising:

a first gripper base and a second gripper base which are oppositely

disposed and affixed to a gripper-attachment base;

a first gripping jaw and a second gripping jaw which are oppositely

disposed slidingly on a slideway in sliding contact with the first gripper base and

the second gripper base;

a first-base two-way-cylinder system in the first gripper base;

a first-base two-way-piston system in sliding contact with internal periphery

of the first-base two-way-cylinder system;

the first-base two-way-piston system being in contact with the first gripping

jaw and having selective actuation of the first gripping jaw in opposite directions

of linear travel;

a second-base two-way-cylinder system in the second gripper base;

a second-base two-way-piston system in sliding contact with internal

periphery of the second-base two-way-cylinder system;

the second-base two-way-piston system being in contact with the second

gripping jaw and having selective actuation of the second gripping jaw in opposite

directions of linear travel; the first-base two-way-piston system having designedly equal fluid pressure

in opposite directions of jaw actuation from the first-base-two-way-cylinder

system;

the second-base two-way-piston system having designedly equal fluid

pressure in opposite directions of jaw actuation from the second-base-two- way-

cylinder system; and

a jaw-travel synchronizer having synchronization of sliding travel of the

first gripping jaw in design proportion to sliding travel of the second gripping

jaw.

2. A robotic gripper as described in claim 1 wherein:

the first-base two-way-cylinder system in the first gripper base has a design

plurality of first-base cylinders which have parallel axes in the first gripper base;

the second-base two-way-cylinder system in the second gripper base has

a design plurality of second-base cylinders which have parallel axes in the second

gripper base;

axes of first-base cylinders are in line concentrically with axes of

oppositely disposed second-base cylinders;

a design plurality of first-jaw pistons are attached to the first gripping jaw

and positioned in first-jaw first-base cylinders and in first-jaw second-base

cylinders which are in line with concentric axes; a design plurality of second-jaw pistons are attached to the second gripping

jaw and positioned in second-jaw second-base cylinders and in second-jaw first-

base cylinders which are in line with concentric axes;

first-jaw pistons have inward-pressure piston heads in first-jaw first-base

cylinders and outward-pressure piston heads in first-jaw second-base cylinders;

second-jaw pistons have inward-pressure piston heads in second-jaw

second-base cylinders and outward-pressure piston heads in second-jaw first-base

cylinders;

first-jaw-inward-pressure fluid conveyances are in fluid communication

with first-jaw first-base cylinders in the first gripper base;

first-jaw-outward-pressure fluid conveyances are in fluid communication

with first-jaw second-base cylinders in the second gripper base;

second-jaw-inward-pressure fluid conveyances are in fluid communication

with second-jaw second-base cylinders in the second gripper base;

second-jaw-outward-pressure fluid conveyances are in fluid communication

with second-jaw first-base cylinders in the first gripper base;

the first gripping jaw has a design plurality of second-jaw-piston apertures

in sliding contact with circumferential outside peripheries of the second-jaw

pistons; the second gripping jaw has a design plurality of first-jaw-piston apertures

in sliding contact with circumferential outside peripheries of the first-jaw pistons;

and

the first-jaw pistons with which the second-jaw-piston apertures are in

sliding contact and the second-jaw pistons with which the first-jaw-piston

apertures are in sliding contact comprise the slideway in sliding contact with the

first gripper base and the second gripper base.

3. A robotic gripper as described in claim 2 wherein:

the design plurality of first-base cylinders is two;

the design plurality of second-base cylinders is two;

the design plurality of first-jaw pistons is two;

the design plurality of second-jaw pistons is two;

the design plurality of second-jaw-piston apertures in sliding contact with

circumferential outside peripheries of the second-jaw pistons is two; and

the design plurality of first-jaw-piston apertures in sliding contact with

circumferential outside peripheries of the first-jaw pistons is two, such that the

first gripping jaw slides on the second-jaw pistons and the second gripping jaw

slides on the first-jaw pistons in oppositely reciprocating travel intermediate the

first gripper base and the second gripper base.

4. A robotic gripper as described in claim 1 wherein: the first gripping jaw and the second gripping jaw have designedly inward

gripping portions and outward gripping portions.

5. A robotic gripper as described in claim 1 wherein:

the first gripping jaw and the second gripping jaw are L-shaped with legs

of L-shapes having design perpendicularity to the gripper-attachment base and

bases of the L-shapes are designedly parallel to the gripper-attachment base.

6. A robotic gripper as described in claim 1 wherein:

the first gripping jaw and the second gripping jaw are I-shaped with design

perpendicularity to the gripper-attachment base.

7. A robotic gripper as described in claim 1 wherein:

the first gripping jaw and the second gripping jaw have design fastener

means for attachment of gripping appendages.

8. A robotic gripper as described in claim 1 wherein:

the jaw-travel synchronizer has a rocker arm that is pivotal centrally on an

axle attached to the gripper-attachment base;

the first gripping jaw has a first synchronizer axle in sliding pivotal contact

with a first end of the rocker arm; and

the second gripping jaw has a second synchronizer axle in sliding pivotal

contact with a second end of the rocker arm.

9. A robotic gripper as described in claim 2 wherein: the jaw-travel synchronizer has a rocker arm that is pivotal centrally on a

synchronizer-attachment axle that is extended from the gripper-attachment base;

the first gripping jaw has a first synchronizer axle in sliding pivotal contact

with a first end of the rocker arm;

the second gripping jaw has a second synchronizer axle in sliding pivotal

contact with a second end of the rocker arm;

the first synchronizer axle is also a first-piston-attachment pin with which

the first gripping jaw is attached to a first-jaw piston; and

the second synchronizer axle is also a second-piston-attachment pin with

which the second gripping jaw is attached to a second-jaw piston.

10. A robotic gripper as described in claim 2 wherein:

the jaw-travel synchronizer has a rocker arm that is pivotal centrally on a

synchronizer-attachment axle that is extended from the gripper-attachment base;

a first-jaw piston has a first synchronizer axle in sliding pivotal contact

with a first end of the rocker arm; and

a second-jaw piston has a second synchronizer axle in sliding pivotal

contact with a second end of the rocker arm.

11. A robotic gripper as described in claim 2 wherein:

the jaw-travel synchronizer has a rocker arm that is pivotal centrally on a

synchronizer-attachment axle that is extended from the gripper-attachment base; the rocker arm has a first end with a first-linkage axle and a second end

with a second-linkage axle;

a first linkage has a first end attached pivotally to the first-linkage axle and

a second end attached pivotally to a first-jaw-synchronizer axle; and

a second linkage has a first end attached pivotally to the second-linkage

axle and a second end attached pivotally to a second-jaw-synchronizer axle.

12. A robotic gripper as described in claim 11 and further

comprising:

a first high-pressure-cylinder housing attached to the first gripper base;

a first high-pressure cylinder having an axis that is parallel to axes of the

design plurality of first-base cylinders;

the first high-pressure cylinder having a diameter that is designedly larger

than diameters of the design plurality of first-base cylinders;

a first high-pressure piston in sliding-seal contact with circumferential

internal periphery of the first high-pressure cylinder;

a first high-pressure fluid conveyance in fluid communication with a head

end of the first high-pressure cylinder;

at least one first-jaw high-pressure rod in sliding contact with the first

gripper base intermediate a jaw side of the first high-pressure piston and the first

gripping jaw; a second high-pressure-cylinder housing attached to the second gripper

base;

a second high-pressure cylinder having an axis that is parallel to axes of the

design plurality of second-base cylinders;

the second high-pressure cylinder having a diameter that is designedly

larger than diameters of the design plurality of second-base cylinders;

a second high-pressure piston in sliding-seal contact with circumferential

internal periphery of the second high-pressure cylinder;

a second high-pressure fluid conveyance in fluid communication with a

head end of the second high-pressure cylinder; and

at least one second-jaw high-pressure rod in sliding contact with the second

gripper base intermediate a jaw side of the second high-pressure piston and the

second gripping jaw.

13. A robotic gripper as described in claim 12 wherein:

the first high-pressure piston and the second high-pressure piston are

double-acting pistons;

a third high-pressure fluid conveyance is in fluid communication with a jaw

end of the first high-pressure cylinder;

a fourth high-pressure fluid conveyance is in fluid communication with a

jaw end of the second high-pressure cylinder; the first high-pressure rod is in rigid contact with the first gripping jaw;

and

the second high-pressure rod is in rigid contact with the second gripping

jaw.

14. A robotic gripper as described in claim 9 wherein:

a first high-pressure-cylinder housing is attached to the first gripper base;

a first high-pressure cylinder has an axis that is parallel to axes of the

design plurality of first-base cylinders;

the first high-pressure cylinder has a diameter that is designedly larger than

diameters of the design plurality of first-base cylinders;

a first high-pressure piston is in sliding-seal contact with circumferential

internal periphery of the first high-pressure cylinder;

a first high-pressure fluid conveyance is in fluid communication with a

head end of the first high-pressure cylinder;

at least one first-jaw high-pressure rod is in sliding contact with the first

gripping jaw;

a second high-pressure-cylinder housing is attached to the second gripper

base; a second high-pressure cylinder having has an axis that is parallel to axes

of the design plurality of second-base cylinders;

the second high-pressure cylinder having a diameter that is designedly

larger than diameters of the design plurality of second-base cylinders;

a second high-pressure piston is in sliding-seal contact with circumferential

internal periphery of the second high-pressure cylinder;

a second high-pressure fluid conveyance is in fluid communication with a

head end of the second high-pressure cylinder; and

at least one second-jaw high-pressure rod is in sliding contact with the

second gripper base intermediate a jaw side of the second high-pressure piston

and the second gripping jaw.

15. A robotic gripper as described in claim 14 wherein:

the first high-pressure piston and the second high-pressure piston are

double-acting pistons;

a third high-pressure fluid conveyance is in fluid communication with a jaw

end of the first high-pressure cylinder;

a fourth high-pressure fluid conveyance is in fluid communication with a

jaw end of the second high-pressure cylinder;

the first high-pressure rod is in rigid contact with the first gripping jaw;

and the second high-pressure rod is in rigid contact with the second gripping

jaw.

16. A robotic gripper as described in claim 2 wherein:

a sliding-seal contact of the first-jaw pistons with internal peripheries of the

first-jaw cylinders is by means of seal rings on the first-jaw pistons; and

a sliding-seal contact of the second-jaw pistons with internal peripheries of

the second-jaw cylinders is by means of seal rings on the second-jaw pistons.

17. A robotic gripper as described in claim 11 wherein:

first-jaw cylinders is by means of seal rings on the first-jaw pistons; and

a sliding-seal contact of the second-jaw pistons with internal peripheries of

the second-jaw cylinders is by means of seal rings on the second-jaw pistons.

18. A robotic gripper as described in claim 2 wherein:

first-jaw cylinders is by means of seal rings in ring grooves in walls of the first-

base cylinders; and

a sliding-seal contact of the second-jaw pistons with internal peripheries of

the second-jaw cylinders is by means of seal rings in ring grooves in walls of the

second-base cylinders.

19. A robotic gripper as described in claim 11 wherein: a sliding-seal contact of the first-jaw pistons with internal peripheries of the

base cylinders; and

a sliding-seal contact of the second-jaw pistons with internal peripheries of

second-base cylinders.

20. A robotic gripper as described in claim 1 wherein:

the first-base two-way-cylinder system has at least one double-ended first-

base cylinder in the first gripper base;

the second-base two-way-cylinder system has at least one double-ended

second-base cylinder in the second gripper base;

the first-base two-way piston system has at least one first-jaw double-acting

piston in sliding-seal contact with an inside circumferential periphery of the

double-ended first-base cylinder;

the second-base two-way piston system has at least one second-jaw double-

acting piston in sliding-seal contact with an inside circumferential periphery of

the double-ended second-base cylinder;

the first-jaw double-acting piston has a first-jaw shaft attached rigidly to a

jaw side of the first-jaw double-acting piston and extended in sliding-seal and slide-bearing contact through a jaw end of the double-ended first-base cylinder

to rigid attachment to the first gripping jaw;

the second-jaw double-acting piston has a second-jaw shaft attached rigidly

to a jaw side of the second-jaw double-acting piston and extended in sliding-seal

and slide-bearing contact through a jaw end of the double-ended second-base

cylinder to rigid attachment to the second gripping jaw;

the first-jaw double-acting piston has a first-bearing shaft attached rigidly

to a bearing side of the first-jaw double-acting piston and extended in sliding-seal

and slide-bearing contact through a bearing aperture in a bearing end of the

double-ended first-base cylinder;

the second-jaw double-acting piston has a second-bearing shaft attached

rigidly to a bearing side of the second-jaw double-acting piston and extended in

sliding-seal and slide-bearing contact through a bearing aperture in a bearing end

of the double-ended second-base cylinder;

outside fluid conveyances are in fluid communication with bearing ends of

the double-ended first-base cylinder and the double-ended second-base cylinder;

and

inside fluid conveyances are in fluid communication with jaw ends of the

double-ended first-base cylinder and the double-ended second-base cylinder.

21. A robotic gripper as described in claim 20 wherein: the slideway in sliding contact with the first gripper base and the second

gripper base is the first-bearing shaft extended in sliding-seal and slide-bearing

contact through a bearing aperture in a bearing end of the double-ended first-

base-cylinder and the second-bearing shaft extended in sliding-seal and slide-

bearing contact through a bearing aperture in a bearing end of the double-ended

second-base-cylinder in combination with at least one first-jaw extension in

slideway contact with a surface on the first gripper base and with at least one

second-jaw extension in sliding contact with a surface on the second gripper base.

22. A robotic gripper as described in claim 21 wherein:

the first-jaw extension is an "L" base on an L-shaped gripping jaw having

a top surface with a first-jaw slideway in slideway contact with a first-base

slideway on a bottom surface of the first gripper base; and

the second-jaw extension is an "L" base on an L-shaped gripping jaw

having a top surface with a second-jaw slideway in slideway contact with a

second-base slideway on a bottom surface of the second gripper base.

23. A robotic gripper as described in claim 22 wherein:

the first-jaw slideway is a "T" slideway on a top of the "L" base;

the first-base slideway is a T-slot slideway on a bottom of the first gripper

base;

the second-jaw slideway is a "T" slideway on a top of the "L" base; the second-base slideway is a T-slot slideway on a bottom of the second

gripper base;

24. A robotic gripper as described in claim 22 wherein:

the first-jaw slideway is a "V" slideway on a top of the "L" base;

the first-base slideway is a V-slot slideway on a bottom of the first gripper

base;

the second-jaw slideway is a "V" slideway on a top of the "L" base; and

the second-base slideway is a V-slot slideway on a bottom of the second

gripper base.

25. A robotic gripper as described in claim 21 wherein:

the first-jaw extension has side walls with wall slideways on opposite sides

of the first gripping jaw;

the first gripper base has base slideways on opposite sides in sliding contact

with the wall slideways on the first-jaw extension;

the second-jaw extension has side walls with wall slideways on opposite

sides of the second gripping jaw; and

the second gripper base has base slideways on opposite sides in sliding

contact with the wall slideways on the second-jaw extension.

26. A robotic gripper as described in claim 25 wherein: the wall slideways and the base slideways are channel slideways having

channel walls and corresponding ridge walls with design peφendicularity to the

side walls.

27. A robotic gripper as described in claim 25 wherein:

the wall slideways and the base slideways are V-slot slideways having

channel walls and corresponding V-slideway walls with design angularity to the

side walls.

28. A robotic gripper as described in claim 20 wherein:

the slideway in sliding contact with the first gripper base and the second

contact through a bearing aperture in a bearing end of the double-ended first-

base-cylinder and the second-bearing shaft extended in sliding-seal and slide-

bearing contact through a bearing aperture in a bearing end of the double-ended

second-base-cylinder in combination with a sidewall affixed to at least one side

of the first gripping jaw and a sidewall affixed to at least one side of the second

gripping jaw;

the sidewall affixed to the first gripping jaw is extended in slideway contact

with a side of the first gripper base; and

the sidewall affixed to the second gripping jaw is extended in slideway

contact with a side of the second gripper base.

29. A robotic gripper as described in claim 28 wherein:

the first gripping jaw has an "I" shape proximate opposite sides of the jaw

end of the first-bearing shaft;

the second gripping jaw has an "I" shape proximate opposite sides of the

jaw end of the second-bearing shaft;

a sidewall is attached to opposite sides of an I-shaped portion of the first

gripping jaw;

a sidewall attached to a first side of the first gripping jaw is in slideway

contact with a first side of the first gripper base;

a sidewall attached to a second side of the first gripping jaw is in slideway

contact with a second side of the first gripper base;

a sidewall is attached to opposite sides of an I-shaped portion of the second

gripping jaw;

a sidewall attached to a first side of the second gripping jaw is in slideway

contact with a first side of the second gripper base; and

a sidewall attached to a second side of the second gripping jaw is in

slideway contact with a second side of the second gripper base;

30. A robotic gripper as described in claim 29 wherein:

slideway contact of sidewalls attached to sides of the first gripping jaw is

by means of "T" slideways; and slideway contact of sidewalls attached to sides of the second gripping jaw

is by means of "T" slideways.

31. A robotic gripper as described in claim 29 wherein:

slideway contact of sidewalls attached to sides of the first gripping jaw is

by means of "V" slideways; and

slideway contact of sidewalls attached to sides of the second gripping jaw

is by means of "V" slideways.

32. A robotic gripper as described in claim 1 wherein:

the first-base two-way-cylinder system has at least one double-ended first-

base cylinder in the first gripper base;

the second-base two-way-cylinder system has at least one double-ended

second-base cylinder in the second gripper base;

the first-base two-way piston system has at least one first-jaw double-acting

piston in sliding-seal contact with an inside circumferential periphery of the

double-ended first-base cylinder;

the second-base two-way piston system has at least one second-jaw double-

the double-ended second-base cylinder;

the first-jaw double-acting piston has a first-jaw shaft attached rigidly to a

to rigid attachment to the first gripping jaw;

the second-jaw double-acting piston has a second-jaw shaft attached rigidly

and slide-bearing contact through a jaw end of the double-ended second-base

cylinder to rigid attachment to the second gripping jaw;

outside fluid conveyances are in fluid communication with outside ends of

the double-ended first-base cylinder and the double-ended second-base cylinder;

and

inside fluid conveyances are in fluid communication with jaw ends of the

double-ended first-base cylinder and the double-ended second-base cylinder.

33. A robotic gripper comprising:

a first gripper base and a second gripper base which are oppositely

disposed and affixed to a gripper-attachment base;

a first gripping jaw and a second gripping jaw which are oppositely

the second gripper base;

a first-base two-way-cylinder system in the first gripper base;

a first-base two-way-piston system in sliding contact with internal periphery

of the first-base two-way-cylinder system; the first-base two-way-piston system being in contact with the first gripping

of linear travel;

a second-base two-way-cylinder system in the second gripper base;

a second-base two-way-piston system in sliding contact with internal

periphery of the second-base two-way-cylinder system;

the second-base two-way-piston system being in contact with the second

directions of linear travel;

the first-base two-way-piston system having designedly equal fluid pressure

in opposite directions of jaw actuation from the first-base-two- way-cylinder

system;

the second-base two-way-piston system having designedly equal fluid

pressure in opposite directions of jaw actuation from the second-base-two-way-

cylinder system;

a jaw-travel synchronizer having synchronization of sliding travel of the

jaw;

the first-base two-way-cylinder system in the first gripper base has a design

plurality of first-base cylinders which have parallel axes in the first gripper base; the second-base two-way-cylinder system in the second gripper base has

gripper base;

axes of the first-base cylinders are in line concentrically with axes of

oppositely disposed second-base cylinders;

a design plurality of first-jaw pistons are attached to the first gripping jaw

and positioned in first-jaw first-base cylinders and in first-jaw second-base

cylinders which are in line with concentric axes;

a design plurality of second-jaw pistons are attached to the second gripping

jaw and positioned in second-jaw second-base cylinders and in second-jaw first-

base cylinders which are in line with concentric axes;

first-jaw pistons have inward-pressure piston heads in first-jaw first-base

cylinders and outward-pressure piston heads in first-jaw second-base cylinders;

second-jaw pistons have inward-pressure piston heads in second-jaw

cylinders;

first-jaw-inward-pressure fluid conveyances are in fluid communication

with first-jaw first-base cylinders in the first gripper base;

first-jaw-outward-pressure fluid conveyances are in fluid communication

with first-jaw second-base cylinders in the second gripper base; second-jaw-inward-pressure fluid conveyances are in fluid communication

with second-jaw second-base cylinders in the second gripper base;

second-jaw-outward-pressure fluid conveyances are in fluid communication

with second-jaw first-base cylinders in the first gripper base;

the first gripping jaw has a design plurality of second-jaw-piston apertures

in sliding contact with circumferential outside peripheries of the second-jaw

pistons;

the second gripping jaw has a design plurality of first-jaw-piston apertures

the first-jaw pistons with which the second-jaw-piston apertures are in

sliding contact and the second-jaw pistons with which the first-jaw-piston

first gripper base and the second gripper base;

the design plurality of first-base cylinders is two;

the design plurality of second-base cylinders is two;

the design plurality of first-jaw pistons is two;

the design plurality of second-jaw pistons is two;

the design plurality of second-jaw-piston apertures in sliding contact with

circumferential outside peripheries of the second-jaw pistons is two; the design plurality of first-jaw-piston apertures in sliding contact with

first gripping jaw slides on the second-jaw pistons and the second gripping jaw

first gripper base and the second gripper base;

the first gripping jaw and the second gripping jaw have designedly inward

gripping portions and outward gripping portions;

the first gripping jaw and the second gripping jaw are L-shaped with legs

of L-shapes having design peφendicularity to the gripper-attachment base and

bases of the L-shapes are designedly parallel to the gripper-attachment base; and

the first gripping jaw and the second gripping jaw have design fastener

means for attachment of gripping appendages.

34. A robotic gripper as described in claim 33 wherein:

the jaw-travel synchronizer has a rocker arm that is pivotal centrally on a

synchronizer-attachment axle that is attached to the gripper-attachment base;

the first gripping jaw has a first synchronizer axle in sliding pivotal contact

with a first end of the rocker arm; and

the second gripping jaw has a second synchronizer axle in sliding pivotal

contact with a second end of the rocker arm.

35. A robotic gripper as described in claim 33 wherein: the jaw-travel synchronizer has a rocker arm that is pivotal centrally on a

synchronizer-attachment axle that is extended from the gripper-attachment base;

the first gripping jaw has a first synchronizer axle in sliding pivotal contact

with a first end of the rocker arm;

the second gripping jaw has a second synchronizer axle in sliding pivotal

contact with a second end of the rocker arm;

the first synchronizer axle is also a first-piston-attachment pin with which

the first gripping jaw is attached to a first-jaw piston; and

the second synchronizer axle is also a second-piston-attachment pin with

which the second gripping jaw is attached to a second-jaw piston.

36. A robotic gripper as described in claim 33 wherein:

the jaw-travel synchronizer has a rocker arm that is pivotal centrally on a

synchronizer-attachment axle that is extended from the gripper-attachment base;

the rocker arm has a first end with a first-linkage axle and a second end

with a second-linkage axle;

a second end attached pivotally to a first-jaw-synchronizer axle; and

a second linkage has a first end attached pivotally to the second-linkage

axle and a second end attached pivotally to a second-jaw-synchronizer axle.

37. A robotic gripper as described in claim 33 and further

comprising:

a first high-pressure-cylinder housing attached to the first gripper base;

a first high-pressure cylinder having an axis that is parallel to axes of the

design plurality of first-base cylinders;

the first high-pressure cylinder having a diameter that is designedly larger

than diameters of the design plurality of first-base cylinders;

a first high-pressure piston in sliding-seal contact with circumferential

internal periphery of the first high-pressure cylinder;

a first high-pressure fluid conveyance in fluid communication with a head

end of the first high-pressure cylinder;

at least one first-jaw high-pressure rod in sliding contact with the first

gripping jaw;

a second high-pressure-cylinder housing attached to the second gripper

base;

a second high-pressure cylinder having an axis that is parallel to axes of the

design plurality of second-base cylinders;

the second high-pressure cylinder having a diameter that is designedly

larger than diameters of the design plurality of second-base cylinders; a second high-pressure piston in sliding-seal contact with circumferential

internal periphery of the second high-pressure cylinder;

a second high-pressure fluid conveyance in fluid communication with a

head end of the second high-pressure cylinder; and

at least one second-jaw high-pressure rod in sliding contact with the second

gripper base intermediate a jaw side of the second high-pressure piston and the

second gripping jaw.

38. A robotic gripper as described in claim 37 wherein:

the first high-pressure piston and the second high-pressure piston are

double-acting pistons;

a third high-pressure fluid conveyance is in fluid communication with a jaw

end of the first high-pressure cylinder;

a fourth high-pressure fluid conveyance is in fluid communication with a

jaw end of the second high-pressure cylinder;

the first high-pressure rod is in rigid contact with the first gripping jaw;

and

the second high-pressure rod is in rigid contact with the second gripping

jaw.

39. A robotic gripper as described in claim 33 wherein:

a first high-pressure-cylinder housing is attached to the first gripper base; a first high-pressure cylinder has an axis that is parallel to axes of the

design plurality of first-base cylinders;

the first high-pressure cylinder having a diameter that is designedly larger

than diameters of the design plurality of first-base cylinders;

a first high-pressure piston is in sliding-seal contact with circumferential

internal periphery of the first high-pressure cylinder;

a first high-pressure fluid conveyance is in fluid communication with a

head end of the first high-pressure cylinder;

at least one first-jaw high-pressure rod is in sliding contact with the first

gripping jaw;

a second high-pressure-cylinder housing is attached to the second gripper

base;

a second high-pressure cylinder has an axis that is parallel to axes of the

design plurality of second-base cylinders;

the second high-pressure cylinder having a diameter that is designedly

larger than diameters of the design plurality of second-base cylinders;

a second high-pressure piston is in sliding-seal contact with circumferential

internal periphery of the second high-pressure cylinder; a second high-pressure fluid conveyance is in fluid communication with a

head end of the second high-pressure cylinder; and

at least one second-jaw high-pressure rod is in sliding contact with the

second gripper base intermediate a jaw side of the second high-pressure piston

and the second gripping jaw.

40. A robotic gripper as described in claim 39 wherein:

the first high-pressure piston and the second high-pressure piston are

double-acting pistons;

a third high-pressure fluid conveyance is in fluid communication with a jaw

end of the first high-pressure cylinder;

a fourth high-pressure fluid conveyance is in fluid communication with a

jaw end of the second high-pressure cylinder;

the first high-pressure rod is in rigid contact with the first gripping jaw;

and

the second high-pressure rod is in rigid contact with the second gripping

jaw.

41. A robotic gripper as described in claim 33 wherein:

first-jaw cylinders is by means of seal rings on the first-jaw pistons; and a sliding-seal contact of the second-jaw pistons with internal peripheries of

the second-jaw cylinders is by means of seal rings on the second-jaw pistons.

42. A robotic gripper as described in claim 33 wherein:

jaw pistons; and

a sliding-seal contact of the second-jaw pistons with internal peripheries of

second-jaw pistons.

43. A robotic gripper comprising:

a first gripper base and a second gripper base which are oppositely

disposed and affixed to a gripper-attachment base;

a first gripping jaw and a second gripping jaw which are oppositely

the second gripper base;

a first-base two-way-cylinder system in the first gripper base;

a first-base two-way-piston system in sliding contact with internal periphery

of linear travel;

a second-base two-way-cylinder system in the second gripper base;

a second-base two-way-piston system in sliding contact with internal

periphery of the second-base two-way-cylinder system;

the second-base two-way-piston system being in contact with the second

directions of linear travel;

the first-base two-way-piston system having substantially equal fluid

pressure in opposite directions of jaw actuation from the first-base-two-way-

cylinder system;

the second-base two-way-piston system having substantially equal fluid

pressure in opposite directions of jaw actuation from the second-base-two-way-

cylinder system;

a jaw-travel synchronizer having synchronization of sliding travel of the

first gripping jaw in proportion to sliding travel of the second gripping jaw;

the first-base two-way-cylinder system has at least one double-ended first-

base cylinder in the first gripper base; the second-base two-way-cylinder system has at least one double-ended

second-base cylinder in the second gripper base;

the first-base two-way piston system has at least one first-jaw double-acting

piston in sliding-seal contact with an inside circumferential periphery of the

double-ended first-base cylinder;

the second-base two-way piston system has at least one second-jaw double-

the double-ended second-base cylinder;

the first-jaw double-acting piston has a first-jaw shaft attached rigidly to a

jaw side of the first-jaw double-acting piston and extended in sliding-seal and

slide-bearing contact through a jaw end of the double-ended first-base cylinder

to rigid attachment to the first gripping jaw;

the second-jaw double-acting piston has a second-jaw shaft attached rigidly

and slide-bearing contact through a jaw end of the double-ended second-base

cylinder to rigid attachment to the second gripping jaw;

the first-jaw double-acting piston has a first-bearing shaft attached rigidly

and slide-bearing contact through a bearing aperture in a bearing end of the

double-ended first-base cylinder; the second-jaw double-acting piston has a second-bearing shaft attached

of the double-ended second-base cylinder;

outside fluid conveyances in fluid communication with bearing ends of the

double-ended first-base cylinder and the double-ended second-base cylinder;

inside fluid conveyances in fluid communication with jaw ends of the

double-ended first-base cylinder and the double-ended second-base cylinder; and

the slideway in sliding contact with the first gripper base and the second

contact through a bearing aperture in a bearing end of the double-ended first-

base-cylinder and the second-bearing shaft extended in sliding-seal and slide-

bearing contact through a bearing aperture in a bearing end of the double-ended

second-base-cylinder in combination with at least one first-jaw extension in

slideway contact with a surface on the first gripper base and with at least one

44. A robotic gripper as described in claim 43 wherein:

the first-jaw extension is an "L" base on an L-shaped gripping jaw having

a top surface with a first-jaw slideway in slideway contact with a first-base

slideway on a bottom surface of the first gripper base; and the second-jaw extension is an "L" base on an L-shaped gripping jaw

having a top surface with a second-jaw slideway in slideway contact with a

second-base slideway on a bottom surface of the second gripper base.

45. A robotic gripper as described in claim 44 wherein:

the first-jaw slideway is a "T" slideway on a top of the "L" base;

the first-base slideway is a T-slot slideway on a bottom of the first gripper

base;

the second-jaw slideway is a "T" slideway on a top of the "L" base;

the second-base slideway is a T-slot slideway on a bottom of the second

gripper base;

46. A robotic gripper as described in claim 44 wherein:

the first-jaw slideway is a "V" slideway on a top of the "L" base;

the first-base slideway is a V-slot slideway on a bottom of the first gripper

base;

the second-jaw slideway is a "V" slideway on a top of the "L" base; and

the second-base slideway is a V-slot slideway on a bottom of the second

gripper base.

47. A robotic gripper as described in claim 43 wherein:

the first-jaw extension has side walls with wall slideways on opposite sides

of the first gripping jaw; the first gripper base has base slideways on opposite sides in sliding contact

with the wall slideways on the first-jaw extension;

the second-jaw extension has side walls with wall slideways on opposite

sides of the second gripping jaw; and

the second gripper base has base slideways on opposite sides in sliding

contact with the wall slideways on the second-jaw extension.

48. A robotic gripper as described in claim 47 wherein:

the wall slideways and the base slideways are channel slideways having

channel walls and corresponding ridge walls with design peφendicularity to the

side walls.

49. A robotic gripper as described in claim 47 wherein:

the wall slideways and the base slideways are V-slot slideways having

channel walls and corresponding V-slideway walls with design angularity to the

side walls.

50. A robotic gripper as described in claim 44 and further

comprising:

an extension downward from the "L" base of the first-jaw extension; and

an extension downward from the "L" base of the first-jaw extension, such

that the gripping jaws have are I-shaped inwardly from "L" bases.

51. A robotic gripper comprising: a first gripper base and a second gripper base which are oppositely

disposed and affixed to a gripper-attachment base;

a first gripping jaw and a second gripping jaw which are oppositely

the second gripper base;

a first-base two-way-cylinder system in the first gripper base;

a first-base two-way-piston system in sliding contact with internal periphery

of the first-base two-way-cylinder system;

the first-base two-way-piston system being in contact with the first gripping

of linear travel;

a second-base two-way-cylinder system in the second gripper base;

a second-base two-way-piston system in sliding contact with internal

periphery of the second-base two-way-cylinder system;

the second-base two-way-piston system being in contact with the second

directions of linear travel;

the first-base two-way-piston system having substantially equal fluid

pressure in opposite directions of jaw actuation from the first-base-two-way-

cylinder system; the second-base two-way-piston system having substantially equal fluid

pressure in opposite directions of jaw actuation from the second-base-two- way-

cylinder system;

a jaw-travel synchronizer having synchronization of sliding travel of the

first gripping jaw in proportion to sliding travel of the second gripping jaw;

the first-base two-way-cylinder system has at least one double-ended first-

base cylinder in the first gripper base;

the second-base two-way-cylinder system has at least one double-ended

second-base cylinder in the second gripper base;

the first-base two-way piston system has at least one first-jaw double-acting

piston in sliding-seal contact with an inside circumferential periphery of the

double-ended first-base cylinder;

the second-base two-way piston system has at least one second-jaw double-

the double-ended second-base cylinder;

the first-jaw double-acting piston has a first-jaw shaft attached rigidly to a

jaw side of the first-jaw double-acting piston and extended in sliding-seal and

slide-bearing contact through a jaw end of the double-ended first-base cylinder

to rigid attachment to the first gripping jaw; the second-jaw double-acting piston has a second-jaw shaft attached rigidly

and slide-bearing contact through a jaw end of the double-ended second-base

cylinder to rigid attachment to the second gripping jaw;

outside fluid conveyances in fluid communication with outside ends of the

double-ended first-base cylinder and the double-ended second-base cylinder;

inside fluid conveyances in fluid communication with jaw ends of the

double-ended first-base cylinder and the double-ended second-base cylinder; and

the slideway in sliding contact with the first gripper base and the second

gripper base is at least one first-jaw extension having a slideway in slideway

contact with a slideway on the first gripper base and at least one second-jaw

extension having a slideway in slideway contact with a slideway on the second

gripper base.