Self-aligning gripper assembly for robotic arms

Abstract

A gripper assembly for a robot arm includes: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper finger such that the gripper pad is allowed to rotate about an axis of rotation relative to the gripper finger, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; and a gripper pad aligner including a pad alignment element coupled to the gripper pad and a finger alignment element coupled to the gripper finger, the pad alignment element coupled to the finger alignment element and configured to apply an alignment torque to the gripper pad when applied, causing the gripper pad to rotate toward a first angular orientation about the axis of rotation between the gripper pad and the gripper finger.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims the benefit of U.S. Provisional Patent Application No. 63 / 486,741, filed February 24, 2023, which is incorporated herein by reference in its entirety. STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT Research or Development

[0002] Not applicable [Background technology]

[0003] Robotic arms are utilized across a wide range of industries to quickly and precisely automate repetitive tasks that would traditionally be performed manually. Robotic arms typically include a first end or base and a second end or free end opposite the base, and may have one or more degrees of freedom relative to the base, which may be movable or fixed relative to the support structure of the system in which the robotic arm is incorporated. As an example, a robotic arm may include one or more articulated joints, actuators (linear, rotary, etc.), and other components to enable the free end of the robotic arm to move and position as desired by an operator of the robotic arm. Additionally, a robotic arm may include a tool at its free end for manipulating one or more workpieces or other objects as part of performing an assigned task. For example, a robotic arm may include a cutting element, a welding element, or other tool for manipulating an object. As another example, a robotic arm may include one or more grippers for grasping an object so that the robotic arm can pick up and reposition the object as needed. Summary of the Invention

[0004] One embodiment of a gripper assembly for a robotic arm includes a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper finger such that the gripper pad is allowed to rotate about an axis of rotation relative to the gripper finger, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; and a gripper pad aligner including a pad alignment element coupled to the gripper pad and a finger alignment element coupled to the gripper finger, the pad alignment element coupled to the finger alignment element and configured to apply an alignment torque to the gripper pad when applied, causing the gripper pad to rotate toward a first angular orientation about an axis of rotation between the gripper pad and the gripper finger. In some embodiments, the pad alignment element comprises a biasing member configured to, when applied, apply a biasing force to the gripper pad, the biasing member rotating the gripper pad toward the first angular orientation. In some embodiments, the biasing member comprises a spring wire, and the biasing force applied by the spring wire results from elongation of the spring wire. In certain embodiments, the pad alignment element comprises a biasing finger having a fixed end coupled to the finger alignment element and a free end opposite the fixed end, and the biasing force applied by the biasing finger results from bending of the biasing finger. In certain embodiments, the finger alignment element comprises a base securable to the gripper finger, and the pad alignment element comprises a biasing finger extending from the base toward the gripper pad, at least a portion of the biasing finger abutting one of the lateral sides of the gripper pad to bias the gripper pad toward the first angular orientation. In some embodiments, the pad alignment element includes a plurality of biasing fingers each abutting a first lateral side of a pair of lateral sides of the gripper pad to bias the gripper pad toward the first angular orientation.In some embodiments, the pad alignment element comprises a first magnetic member, and the finger alignment element comprises a second magnetic member magnetically coupled to and magnetically attracted toward the first magnetic member. In certain embodiments, the second magnetic member is integrally formed with the gripper finger. In certain embodiments, the second magnetic member comprises a protrusion surrounded by a channel formed in a surface of the gripper finger, the protrusion extending toward a proximal side of the gripper pad and aligning with the first magnetic member when the gripper finger is in the first angular orientation. In some embodiments, the protrusion comprises a magnetic material and is integrally formed with the gripper finger. In some embodiments, the protrusion is attachable to the gripper finger and comprises a magnetic material different from the material comprising the gripper finger. In certain embodiments, the first magnetic member comprises a magnet attachable to the gripper pad. In some embodiments, the gripper assembly comprises a pivot pin extending from the gripper finger to a proximal side of the gripper pad, pivotally coupling the gripper pad to the gripper finger. One embodiment of the assay system comprises a container containing a reagent and a pair of robotic arms configured to manipulate the position of the container, each of the robotic arms comprising a pair of gripper assemblies configured to grasp the container between the pair of robotic arms.

[0005] One embodiment of a gripper assembly for a robotic arm includes: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper finger such that the gripper pad is allowed to rotate about an axis of rotation relative to the gripper finger, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; and a gripper pad aligner coupled to the gripper finger, the gripper pad aligner including a pad alignment element offset from the axis of rotation by a predetermined distance, the gripper pad aligner configured to apply an alignment torque to the gripper pad oriented in a direction of a first angular orientation about the axis of rotation between the gripper pad and the gripper finger. In some embodiments, the pad alignment element includes a magnetic member received in an opening formed in a proximal side of the gripper pad. In some embodiments, the gripper pad aligner includes a magnetic protrusion extending from a side of the gripper finger and surrounded by a channel formed in the side of the gripper finger, the magnetic protrusion magnetically attracting and aligning the pad alignment element when the gripper finger is in the first angular orientation. In certain embodiments, the protrusion includes a magnetic material and is integrally formed with the gripper finger. In certain embodiments, the protrusion is attachable to the gripper finger and includes a magnetic material different from the material comprising the gripper finger. In some embodiments, the pad alignment element includes a magnet coupled to the gripper pad. In some embodiments, the pad alignment element includes an elongated biasing finger abutting one of a pair of lateral sides of the gripper pad and extending toward the gripper finger. In certain embodiments, the pad alignment element includes a spring wire, and the alignment torque includes a biasing force applied by the spring wire due to elongation of the spring wire. In certain embodiments, the gripper pad aligner includes a finger alignment element coupled to the gripper pad and offset from the axis of rotation by a predetermined distance.In some embodiments, the pad alignment element comprises a first magnetic member and the finger alignment element comprises a second magnetic member magnetically attracted toward the pad alignment element, in some embodiments, the gripper pads include a second angular orientation away from the first angular orientation in a first rotational direction about the rotation axis, the alignment element applies a rotational torque in a second rotational direction opposite the first rotational direction when the gripper pads are in the second angular orientation, the gripper pads include a third angular orientation away from the first angular orientation in the second rotational direction about the rotation axis, and the alignment element applies a rotational torque in the first rotational direction when the gripper pads are in the third angular orientation. In certain embodiments, the alignment element is configured to restore the gripper pads to the first angular orientation when the gripper pads are in a second angular orientation away from the first angular orientation in a first rotational direction and when the gripper pads are in a third angular orientation away from the first angular orientation in a second rotational direction opposite the first rotational direction. In certain embodiments, the gripper assembly includes a pivot pin extending from the gripper finger proximally to the gripper pad, pivotally coupling the gripper pad to the gripper finger.

[0006] A gripper assembly for a robotic arm includes: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper finger such that the gripper pad is allowed to rotate relative to the gripper finger about a rotational axis, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; and a gripper pad aligner including: a base securable to the gripper finger; and a biasing finger extending from the base toward the gripper pad and abutting one of the lateral sides of the gripper pad. In some embodiments, the gripper pad aligner includes a plurality of biasing fingers, each of which abuts a first lateral side of the pair of lateral sides of the gripper pad to bias the gripper pad toward a first angular orientation. In some embodiments, the gripper pad includes a second angular orientation away from the first angular orientation in a first rotational direction about the rotation axis, and a first biasing finger of the plurality of biasing fingers applies a rotational torque in a second rotational direction opposite the first rotational direction when the gripper pad is in the second angular orientation, and the gripper pad includes a third angular orientation away from the first angular orientation in a second rotational direction about the rotation axis, and a second biasing finger of the plurality of biasing fingers applies a rotational torque in the first rotational direction when the gripper pad is in the third angular orientation. In certain embodiments, the gripper pad aligner is configured to restore the gripper pad to the first angular orientation when the gripper pad is in the second angular orientation away from the first angular orientation in the first rotational direction and when the gripper pad is in a third angular orientation away from the first angular orientation in a second rotational direction opposite the first rotational direction. In certain embodiments, the biasing fingers include a pair of biasing fingers each abutting a first lateral side of a pair of lateral sides of the gripper pad, the pair of biasing fingers being spaced apart from each other along the longitudinal axis of the gripper pad.In some embodiments, the base of the gripper pad aligner is integrally formed with the fingers.

[0007] One embodiment of a gripper assembly for a robotic arm includes a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; a gripper pad aligner coupled to the gripper finger and including a first magnetic member magnetically attracted to the first magnetic member; and a gripper pad aligner coupled to the gripper pad and including a second magnetic member, the second magnetic member configured to apply an alignment torque to the gripper pad oriented in a direction of a first angular orientation about an axis of rotation between the gripper pad and the gripper finger.

[0008] One embodiment of a gripper pad aligner for a gripper assembly of a robot arm includes a pad alignment element configured to couple to a gripper pad of the gripper assembly; and a finger alignment element configured to couple to a gripper finger of the gripper assembly, the pad alignment element configured to couple to the finger alignment element and configured to apply an alignment torque to the gripper pad when the finger alignment element is coupled to the gripper pad, rotating the gripper pad toward a first angular orientation about a rotation axis between the gripper pad and the gripper finger. [Brief explanation of the drawings]

[0009] For a detailed description of various exemplary embodiments, reference will now be made to the accompanying drawings.

[0010] [Figure 1]FIG. 1 is a plan view of an embodiment of an automated assay system including a robotic arm. [Figure 2] FIG. 2 is a side view of one embodiment of a gripper assembly of the robotic arm of FIG. [Figure 3-5] 3 to 5 are bottom views of the gripper assembly of FIG. [Figure 6-8] 6-8 are additional bottom views of the pair of gripper assemblies of FIG. [Figure 9-10] 9 and 10 are bottom views of another embodiment of a gripper assembly for a robotic arm. [Figure 11] FIG. 11 is a perspective view of one embodiment of a gripper pad aligner. [Figure 12] 12 is a perspective view of another embodiment of a gripper assembly for a robotic arm including the gripper pad aligner of FIG. 9. [Figure 13] FIG. 13 is a side view of another embodiment of a gripper assembly for a robotic arm. [Figure 14] FIG. 14 is a side view of another embodiment of a gripper assembly for a robotic arm. [Figure 15] FIG. 15 is a perspective view of another embodiment of a gripper assembly for a robotic arm. [Figure 16] FIG. 16 is a perspective view of another embodiment of a gripper assembly for a robotic arm. DETAILED DESCRIPTION OF THE INVENTION

[0011] The following discussion is directed to various exemplary embodiments. However, those skilled in the art will understand that the examples disclosed in this disclosure have broad applicability, and that the discussion of any embodiment is meant only as an example of that embodiment and is not intended to suggest that the scope of the disclosure, including the claims, is limited to that embodiment.

[0012] Certain terms are used throughout the following description and claims to refer to particular components or parts. As one skilled in the art will understand, others may refer to such components or parts by different names. This document does not intend to distinguish between components or features that differ in name but function the same. The drawings are not necessarily drawn to scale. Certain components and components of the present disclosure may be illustrated exaggerated in scale or in somewhat schematic form, and some details of conventional elements may be omitted or not illustrated for the sake of clarity and conciseness.

[0013] In the following discussion and in the claims, the terms "including," "comprising," and "having" are used in an open-ended manner and, therefore, should be interpreted to mean "including, but not limited to." Additionally, the terms "coupled," "coupled," "coupling," "coupler," and the like are used broadly in this disclosure to refer to any method, device, or technique for fastening, joining, adhering, fastening, attaching, connecting, inserting, forming on or within, or otherwise involving one or more members, e.g., mechanically, magnetically, electrically, chemically, operably, directly, or indirectly by means of intermediate elements. or configuration, and may further include, but is not limited to, forming one functional component integrally with another functional component in a unitary or monolithic manner. The coupling may occur in any direction, including rotational. Furthermore, as used in this disclosure, the terms "axial" and "axially" generally mean along or parallel to a central axis (e.g., the central axis of a body or port), while the terms "radial" and "radially" generally mean perpendicular to the central axis. For example, axial distance refers to the distance measured along or parallel to the central axis, and radial distance refers to the distance measured perpendicular to the central axis.

[0014] As previously mentioned, robotic arms can be used in a wide variety of applications to manipulate one or more objects. One such example includes an automated assay system in which a robotic arm is used to grasp, manipulate, transport, and / or rearrange various containers or other objects in an assay system. The robotic arm may be configured with one or more grippers at its free end for grasping and manipulating one or more objects. As an example, the robotic arm may include a pair of grippers, each with a gripper pad configured to contact and thereby frictionally grip an object being manipulated by the robotic arm. For example, the robotic arm may include one or more actuators for pressing the pair of grippers against an object so that the robotic arm can pick up, transport, and set down or rearrange the object as needed. Furthermore, the gripper pads may be pivotally coupled to the gripper fingers such that the gripper pads can maintain a tangential orientation relative to the exterior of the grasped object, minimizing the likelihood that the robotic arm will drop or otherwise lose contact with the grasped object. Furthermore, it will be appreciated that the actions and movements of the robotic arm, such as the actuation of the gripper of the robotic arm, may be at least partially automated.

[0015] In some applications, a given robotic arm may be tasked with picking up or otherwise manipulating objects that are positioned close to each other or close to other obstacles, with minimal space left for the robotic arm to position its gripper relative to the exterior of the object being manipulated by the robotic arm. By way of example only, biological assay systems often include multiple containers, sometimes called assay plates, that contain biological materials utilized in performing biological assays.

[0016] To minimize the footprint of the assay system, at least some of the assay plates or other objects may be positioned adjacent to one another such that only a minimal amount of space is provided between adjacently positioned assay plates. For example, the gap formed between adjacently positioned plates may be slightly wider than the gripper pads of a robotic arm used to grasp and manipulate the assay plates. For this reason, a gripper with gripper pads that are not oriented to minimize the gripper's width may collide with the object being grasped (e.g., an assay plate) or another obstacle (another assay plate or other object), thereby preventing the gripper from successfully grasping the object and potentially damaging the gripper or other object. For example, a gripper with gripper pads oriented at a non-zero angle relative to the gripper's gripper fingers may result in the angled gripper pads colliding with the object being grasped or another object, preventing the gripper from successfully grasping the object. In fact, conventional grippers often jam (e.g., with respect to objects positioned proximal to the object being gripped) or are otherwise unable to properly grip the object being gripped by the conventional gripper due to misalignment of the conventional gripper about its axis of rotation.

[0017] Accordingly, the present disclosure provides multiple embodiments of a self-aligning gripper assembly for a robot arm, including a gripper pad aligner for applying an alignment torque to a gripper pad of the gripper assembly, the aligner rotating the gripper pad toward a desired angular orientation about an axis of rotation so that the gripper pad can be maintained at the desired angular orientation. The gripper pad aligner may be coupled to both the gripper pad and the gripper fingers of the gripper assembly at a location offset from the axis of rotation. By rotating the gripper pad toward the desired angular orientation (e.g., by rotating the gripper pad away from the desired angular orientation after engagement between the gripper pad and an object) and maintaining the gripper pad at the desired angular orientation, various dimensions of the gripper pad (e.g., its width) may be minimized to prevent the gripper pad from inadvertently colliding with the object being gripped or other obstacles.

[0018] Some embodiments of the gripper pad aligner include a pad alignment element coupled to a gripper pad of a gripper assembly and a finger alignment element coupled to both the gripper fingers and the pad alignment element. In particular, the finger alignment element may be mechanically, magnetically, or otherwise coupled to the pad alignment element, thereby transmitting an alignment force between them. For example, in some embodiments, the finger alignment element may include a base fixed to the gripper fingers, and the pad alignment element may include biasing fingers extending from the base and contacting the gripper pad. In this configuration, rotation of the gripper pad may flex the biasing fingers, which in turn apply an alignment torque to the gripper pad, returning the pad to a particular angular orientation (e.g., a desired angular orientation, which may or may not be fixed). In another example, the pad alignment element may include a magnetic member or magnet in the form of a corresponding magnetic member having an opposite polarity to the pad alignment element that is magnetically attracted to the finger alignment element, with this magnetic attraction between the pad alignment element and the corresponding finger alignment element resulting in the pad alignment element being magnetically coupled to the finger alignment element.

[0019] Referring now to FIG. 1 , a plan view of an embodiment of an automated assay system 10 including a robotic arm 50 is shown. The assay system 10 may be used to perform biological assays, and the operation of the assay system 10 may be at least partially automated, with some tasks being performed automatically by a robotic device (e.g., one or more robotic arms), e.g., using a collaborative machine or device of the assay system 10, such as a cobot or the like, while other tasks are performed manually by one or more human operators of the assay system 10. As an example, the robotic arm may automatically transport objects (e.g., assay plates and other types of containers) of the assay system 10 between different locations, such as between a storage area and an assay reader, as part of a pre-set routine. Additionally, some tasks, such as pipetting, may be performed manually alongside the robotic device of the assay system 10. However, it will be understood that in some embodiments, the assay system 10 may be fully automated without requiring manual intervention by a human operator.

[0020] In some embodiments, assay system 10 may comprise a fully integrated, one-stop-shop instrument, such as the PARSEC R 5000 instrument (P5) disclosed in International Application Nos. PCT / US2016 / 043755, PCT / US2017 / 014360, and U.S. Application No. 63 / 025,344, each of which is incorporated herein by reference in its entirety. In certain embodiments, assay system 10 may comprise an interconnected network of instruments and devices for carrying out our scientific testing, experiments, and assay / vaccine development (e.g., assay readers, washers, plate shakers, incubators, etc.). In other examples, assay system 10 may comprise a high-throughput instrument, such as those disclosed in U.S. Patent Application Nos. PCT / US2016 / 026242 and PCT / US2019 / 032567, each of which is incorporated herein by reference in its entirety.

[0021] In this exemplary embodiment, the assay system 10 generally comprises a support structure 12, an assay reader 20, an assay storage unit 30, a pipetting unit 40, and a robotic arm 50. The support structure 12 comprises a platform or deck 14 on which the assay storage unit 30 is located. The support structure 12 further comprises a pair of gantries 16 and 18 positioned vertically above the platform 14. The pipetting unit 40 is supported by the lower gantry 16 of the pair of gantries 16 and 18, thereby suspending the pipetting unit 40 vertically above the platform 14. Similarly, the robotic arm 50 is supported by the upper gantry 18 of the pair of gantries 16 and 18, thereby suspending the robotic arm 50 above the platform 14. In this configuration, both the pipetting unit 40 and the robotic arm 50 can move in one or more directions (vertical, lateral) relative to the platform 14 in response to activation of one or more actuators coupled between the pipetting unit 40 and the lower gantry 16, and between the robotic arm 50 and the upper gantry 18.

[0022] The assay reader 20 of the assay system 10 is configured to perform biological, chemical, and / or biochemical experiments, such as, for example, assays (e.g., luminance, chemiluminescence, and / or electrochemiluminescence (ECL)-based assays) on biological samples (e.g., blood, plasma, etc.). In some embodiments, the experiments may be performed on assay plates (e.g., 96-well, 384-well microtiter plates, etc. (not shown in FIG. 1 )) that are insertable into the assay reader 20. In particular, the assay trays may be configured to be stored in the assay storage unit 30 before or after the performance of a biological assay on the biological material contained therein by the assay reader 20. In some embodiments, the assay reader 20 may be configured to include one or more of the MESO SECTOR S 600, MESO QUICKPLEX SQ 120, and MESO QUICKPLEX Q 60 instruments (available from Meso Scale Diagnostics, LLC of Rockville, Maryland), including those disclosed in, for example, U.S. Pat. No. 6,977,722, U.S. Pat. No. 11,156,801, and International Application No. PCT / US2020 / 042104, each of which is incorporated herein by reference in its entirety. However, it will be understood that the configuration of the assay reader 20 may vary from the non-limiting set of examples outlined above.

[0023] Assay storage unit 30 is supported on platform 14 of support structure 12 and includes a plurality of separate receptacles (one of which is indicated by arrow 32 in FIG. 1 ) for separately storing different assay plates. Pipetting unit 40 pipettes various materials (e.g., liquids) into or from one or more receptacles or wells formed in a given assay plate through aspirating and / or dispensing functions. In particular, assay plates may be configured to be positioned above preparation area 15 of platform 14, and pipetting unit 40 may be configured to be transported along lower gantry 16 to a position vertically above the assay plate. In this arrangement, pipetting unit 40 may be lowered toward an assay plate located within preparation area 15 so that pipetting unit 40 can pipette materials into or from the assay plate.

[0024] The robotic arm 50 of the assay system 10 manipulates and transports assay plates (or other objects) between various locations in the system 10. For example, the robotic arm 50 may be configured to transport assay plates between corresponding receptacles 32 in the assay storage units 30 and the preparation area 15 of the platform 14. Additionally, the robotic arm 50 may be configured to transport assay plates between the preparation area 15 and the assay reader 20 for performance of a biological assay on the materials contained by a given assay plate.

[0025] In this exemplary embodiment, the robotic arm 50 includes a body and a pair of self-aligning gripper assemblies, or simply "grippers," 100 extending from the body 52 to grip an object to be manipulated by the robotic arm 50, such as, for example, an assay plate of the assay system 10. In this exemplary embodiment, the grippers 100 extend parallel to one another such that an opening 55 is formed therebetween. The robotic arm 50 includes one or more actuators (not shown in FIG. 1 ) for moving the grippers 100 relative to one another so that the size of the opening 55 can be adjusted to accommodate an object to be gripped by the robotic arm 50. The one or more actuators can also press the grippers 100 laterally against an object to be gripped by the robotic arm 50, establishing a normally directed force through friction between the object and the pair of grippers 100 so that the object can be vertically lifted and transported by the robotic arm 50.

[0026] It will be appreciated that assay system 10 may include additional devices not expressly described above, such as a plate shaking unit, a plate washing unit, a waste storage unit, and a computer system for automatically operating at least some of the devices of assay system 10, including, for example, assay reader 20 and robotic arm 50. For example, the computer system may be configured to operate robotic arm 50 to grasp a particular assay plate stored in one of the receptacles 32 of assay storage unit 30 as part of a predetermined control routine or scheme.

[0027] 2-5, one embodiment of a gripper 100 of a robotic arm 50 is shown. In this exemplary embodiment, the gripper 100 forms a component of the robotic arm 50 and assay system 10, however, it will be understood that the gripper 100 may be utilized in robotic arms and other robotic devices that differ in configuration from the robotic arm 50 shown in FIG. 1. Similarly, the gripper 100 may be utilized in applications other than biological assay systems. For example, the gripper 100 may be utilized in manufacturing, agricultural, and other applications.

[0028] In this exemplary embodiment, gripper 100 generally includes gripper fingers 102, gripper pads 120 pivotally coupled to gripper fingers 102, and gripper pad aligners 150 coupled between gripper fingers 102 and gripper pad 120. Gripper fingers 102 are elongated in shape having a first or fixed end 104 and a second or free end 106 longitudinally opposite fixed end 104. Fixed end 104 of gripper fingers 102 is coupled to body 52 of robotic arm 50, and free end 106 of gripper fingers 102 is spaced apart from body 52. ​​Additionally, while gripper fingers 102 are shown in FIGS. 2-5 as being straight, it will be understood that the shape of gripper fingers 102 may vary in other embodiments. For example, in some embodiments, the gripper fingers 102 may not be elongated in shape, but may instead be square or claw-shaped, and may be configured to grasp an object from above, below, or other directions.

[0029] In this exemplary embodiment, gripper pad 120 extends longitudinally between a pair of longitudinal ends and defines an inner side 122 of gripper pad 120 and opposite lateral inner and outer sides 122 and 124. Inner side 122 of gripper pad 120 defines a gripping surface 126 of gripper pad 120 that contacts an object to be gripped by gripper 100. While gripping surface 126 is shown as generally planar in FIGS. 2-5 , it will be understood that the configuration of gripping surface 126, as well as other configurations of gripper pad 120, may vary in other embodiments. Furthermore, it will be understood that both gripper pad 120 and gripper fingers 102 described above may be formed from a variety of materials, including metals, polymers, elastomers, and other materials such as, for example, composite materials, alloy materials, and polymers, which may incorporate carbon fiber-containing and / or glass-based materials, and the like.

[0030] Gripper pad 120 is pivotally connected to free ends 106 of gripper fingers 102 by a pivot joint 130 (shown schematically in outline in FIGS. 2-5 ) having first and second ends received in internal receptacles formed in free ends 106 of gripper fingers 102, the first end received in an internal receptacle formed in free ends 106 of gripper fingers 102 and the second end received in a corresponding receptacle formed in a lateral proximal side 128 of gripper pad 120 longitudinally opposite the first end, protruding from, facing, and positioned directly adjacent to gripper finger 102. In this exemplary embodiment, pivot joint 130 comprises a pivot pin and therefore may also be referred to as a pivot pin 130 in the present disclosure. However, it will be understood that in other embodiments, pivot joint 130 may be configured with other joints that allow relative rotation between gripper finger 102 and gripper pad 120. By way of example, in some embodiments, pivot joint 130 may be configured to include a bearing, a journal, a flexible member, a spring, or the like. Pivot joint 130 defines and extends along a rotation axis 135 about which gripper pad 120 is permitted to pivot or rotate relative to gripper finger 102 in respective rotational directions (indicated by arrows 137 and 139 in FIGS. 4 and 5 ). In particular, FIG. 4 illustrates a first rotational direction 137 in which gripper pad 120 may rotate relative to gripper finger 102, and FIG. 5 illustrates an opposing second rotational direction 139 in which gripper pad 120 may rotate relative to gripper finger 102. In this exemplary embodiment, the gripper pad 120 is pivotally connected to the gripper fingers 102 through the pivot joint 130, however, it will be understood that in other embodiments, the gripper pad 120 may be pivotally connected to the gripper fingers 102 through other pivotable joints or couplings that differ in configuration from the pivot joint 130.As an example, in some embodiments, gripper pad 120 may be pivotally coupled to gripper fingers 102 at multiple spaced pivot points (e.g., one pivot point on each side 122, 124 of gripper pad 120) to allow for a greater degree of flexibility between gripper pad 120 and gripper fingers 102, at least in some applications. It will also be understood that pivot joint 130 is just one embodiment of a pivot point, and that in other embodiments, pivot joint 130 may be replaced or supplemented with other pivot joints, such as fasteners, couplers including couplers formed from flexible materials that allow the couplers to flex to a desired degree or amount, and other mechanisms.

[0031] Additionally, gripper pad aligner 150 of gripper 100 is coupled between gripper pad 120 and gripper fingers 102 to maintain gripper pad 120 at a desired angular orientation about rotation axis 135 relative to gripper fingers 102. In particular, gripper pad aligner 150 maintains gripper pad 120 at a desired angular orientation when gripper pad 120 is not engaged by an object, which causes gripper pad 120 to rotate about rotation axis 135 from the desired angular orientation. In other words, gripper pad aligner 150 is configured to maintain gripper pad 120 at a desired angular orientation relative to gripper fingers 102, while still allowing relative rotation between gripper pad 120 and gripper fingers 102 about rotation axis 135.

[0032] In this exemplary embodiment, the desired angular orientation of gripper pad 120 corresponds to an orientation in which longitudinal axes 105 of gripper fingers 102 (shown in FIG. 3 ) are oriented substantially parallel to longitudinal axis 125 of gripper pad 120 (also shown in FIG. 3 ). As used in this disclosure, the term “substantially parallel” refers to an arrangement in which two members may be parallel to one another or may be within ±5° of parallel to one another. It will be understood that in other embodiments, the desired angular orientation of gripper pad 120 may not correspond to an orientation in which longitudinal axes 105 of gripper fingers 102 are oriented substantially parallel to longitudinal axis 125 of gripper pad 120. For example, in some embodiments, the desired angular orientation of gripper pad 120 may correspond to an orientation in which longitudinal axes 105 of gripper fingers 102 are oriented at an angle of substantially 10° (5°-15°) from longitudinal axis 125 of gripper pad 120. In some embodiments, the desired angular orientation of gripper pad 120 may correspond to an orientation in which longitudinal axes 105 of gripper fingers 102 are oriented at an angle of substantially 20° (15°-25°) from longitudinal axis 125 of gripper pad 120. In particular embodiments, the desired angular orientation of gripper pad 120 may correspond to an orientation in which longitudinal axes 105 of gripper fingers 102 are oriented at an angle of substantially 30° (25°-35°) from longitudinal axis 125 of gripper pad 120.

[0033] With the gripper pad 120 at the desired angular orientation, the width 101 (shown in FIG. 3 ) of the gripper 100 is minimized. However, it will be understood that in other embodiments, the desired angular orientation may be varied. For example, in some embodiments, the desired angular orientation may correspond to an orientation of the longitudinal axis 125 of the gripper pad 120 at a desired non-zero angle relative to the longitudinal axis 105 of the gripper fingers 102.

[0034] 2 , gripper pad aligner 150 is offset from rotation axis 135 by a desired offset distance 141 (extending radially outward from rotation axis 135) and is coupled between gripper fingers 102 and gripper pad 120. Additionally, gripper pad aligner 150 generally includes a pad alignment element 152 and a finger alignment element 156 coupled to pad alignment element 152. While not intending to be bound by any particular theory, it is generally understood that a given force (F) can generate a corresponding torque (T) relative to the magnitude of a position vector or moment arm (R) according to equation (1) shown below:

number

[0035] In view of the above, for a given self-alignment force applied by pad alignment element 152, the self-alignment torque applied by element 152 to gripper pad 120 is correlated with the magnitude of offset distance 141 (which extends perpendicular to the self-alignment force and corresponds to the moment arm (R)), with the self-alignment torque increasing in magnitude as the magnitude of offset distance 141 increases. Pad alignment element 152 is coupled to gripper pad 120, while finger alignment element 156 is coupled to gripper fingers 102. Notably, pad alignment element 152 may be coupled to an exterior surface of gripper pad 120, such as inner side 122 or proximal side 128 of gripper pad 120. Alternatively, pad alignment element 152 may be received within an internal opening or receptacle formed in gripper pad 120. Additionally, pad alignment element 152 may be removably or permanently coupled to gripper pad 120. Alternatively, the pad alignment element 152 may be integrally or monolithically formed with the gripper pad 120 .

[0036] Similarly, finger alignment element 156 may be coupled to an exterior surface of gripper finger 102. Alternatively, finger alignment element 156 may be received within an internal opening or receptacle formed in gripper finger 102. Additionally, finger alignment element 156 may be removably or permanently coupled to gripper finger 102. Alternatively, finger alignment element 156 may be integrally or monolithically formed with gripper finger 102.

[0037] Pad alignment element 152 coupled to gripper pad 120 is generally configured to apply a self-aligning torque (in either rotational direction 137 or 139 shown in FIGS. 4 and 5 ) to gripper pad 120 about rotation axis 135, thereby causing gripper pad 120 to rotate by pad alignment element 152 toward a desired angular orientation about rotation axis 135 (when gripper pad 120 is not obstructed by an external object). In particular, pad alignment element 152 may apply a self-aligning force to gripper pad 120 that translates into a torque about rotation axis 135, and offset distance 141 determines the moment arm of the torque applied by pad alignment element 152 to gripper pad 120. Finger alignment element 156, in some embodiments, may be configured to react the force applied by pad alignment element 152 to gripper pad 120 to gripper fingers 102. In this manner, a force applied by pad alignment element 152 against gripper pad 120 may be reacted or transmitted from pad alignment element 152 to finger alignment element 156 and from finger alignment element 156 to gripper fingers 102. In this manner, a force may be transmitted from finger alignment element 156 to pad alignment element 152.

[0038] In some embodiments, the finger alignment element 156 is mechanically coupled to the pad alignment element 152 such that a mechanical connection is provided between the elements 152 and 156. For example, the pad alignment element 152 may be removably or permanently mechanically coupled to the finger alignment element 156, such as by a joint formed therebetween. Alternatively, the finger alignment element 156 may be integrally or monolithically formed with the pad alignment element 152. For example, in some embodiments, the gripper pad aligner 150 may include a single monolithically formed element or member that defines both the pad alignment element 152 and the finger alignment element 156.

[0039] In other embodiments, finger alignment element 156 is coupled to pad alignment element 152 by means other than a mechanical coupling or connection. For example, finger alignment element 156, in some embodiments, is magnetically coupled to pad alignment element 152 such that a magnetic force can be transmitted between elements 152 and 156 of gripper pad aligner 150, thereby rotating gripper pad 120 toward the desired angular orientation shown in FIG. 3. In this manner, a force can be magnetically transmitted between elements 152 and 156 of gripper pad aligner 150, such that pad alignment element 152 provides an alignment force to gripper pad 120 offset from axis of rotation 135 by a moment arm corresponding to offset distance 141 between axis of rotation 135 and elements 152 and 156, thereby applying a torque to gripper pad 120 in the rotational direction of the desired angular orientation. Once gripper pad 120 reaches the desired angular orientation, the alignment force is no longer applied to gripper pad 120, thereby maintaining gripper pad 120 at the desired angular orientation until or unless a sufficient opposing force (e.g., resulting from contact between gripper pad 120 and an external object) is applied to gripper pad 120 to rotate gripper pad 120 from the desired angular orientation. The gripping ability of gripper pad 120 may be maximized when at the desired angular orientation, allowing gripper pad 120 to more securely grip objects of a variety of different shapes compared to the ability of gripper pad 120 to firmly grip objects when gripper pad 120 is at an orientation that deviates from the desired angular orientation. As an example, in some applications in which the gripper pad 120 deviates from a substantially parallel alignment with the gripper fingers 102, the gripper pad 120 may contact the object to be gripped at a position along the longitudinal length of the gripper pad 120 (e.g., a position proximal to the longitudinal end of the gripper pad 120) that does not help maximize the gripping force applied to the object by the gripper pad 120.

[0040] It will be appreciated that in other embodiments, pad alignment element 152 may be coupled to finger alignment element 156 other than mechanically or magnetically, whereby force may be transferred between elements 152 and 156. For example, pad alignment element 152 may be configured to be fluidly coupled to finger alignment element 156.

[0041] 6-8, the configuration of operation of gripper 100 will be described. In particular, FIG. 6 shows a pair of grippers 100 (which may be part of robot arm 50, not shown in FIG. 6) in the process of gripping a first object 60 having an external size and shape that causes gripper pads 120 of gripper 100 to deviate from their desired angular orientation (such that pads 120 are oriented with parallel fingers 102) so that pads 120 can grip object 60. Thus, FIG. 6 illustrates that gripper pad aligner 150 allows gripper pads 120 to deviate from their desired angular orientation when necessary to enable gripper pads 120 to grasp an object such as object 60 shown in FIG. 6.

[0042] 7 illustrates a pair of grippers 100 immediately after release of object 60, with gripper pads 120 deviating from their desired angular orientation. In this configuration, pad alignment element 152 of gripper pad aligner 150 applies an alignment torque to gripper pads 120 of gripper 100, thereby rotating gripper pads 120 about rotation axis 135 of gripper 100 until gripper pads 120 are restored to the desired angular orientation, as shown in FIG.

[0043] In particular, Figure 8 illustrates a pair of grippers 100 with the gripper pads 120 restored to a desired angular orientation by the gripper pad aligner 150. In this configuration, the pair of grippers 100 is configured to grip a second object in the form of an assay plate 70, which may contain, for example, one or more of a biological sample, a reagent 72, etc., and which is housed within one of the receptacles 32 (defined by a pair of opposing walls 34 in Figure 8) of the assay storage unit 30. Furthermore, it can be seen that in the desired angular orientation, the gripping capability of the pair of grippers 100 is maximized when contacting and gripping the second object. In this configuration, a pair of openings 36 is formed between the lateral sides of the assay plate 70 and the walls 34 defining the receptacle 32 in which the assay plate 70 is positioned.

[0044] To minimize the size of each receptacle 32 and the overall footprint of the assay storage unit 30, the size of each opening 36 may be configured to be slightly larger than the width 101 of the gripper 100 (e.g., as shown in FIG. 3 ) when the gripper pad 120 is in a desired angular orientation (with the longitudinal axis 125 of the pad 120 parallel to the longitudinal axes 105 of the gripper fingers 102, as shown in FIG. 8 ). Thus, the width of the gripper 100 may be configured to exceed the size of a given opening 36 that would prevent the gripper 100 from entering the receptacle 32 (effectively widening the gripper 100 because the gripper pad 120 extends at a non-zero angle relative to the gripper fingers 102, as shown in FIG. 7 ). For example, without the gripper pad aligner 150, the gripper pads 120 may remain offset from their desired angular orientation, which may lead to undesired collisions or clashes between the gripper pads 120 and the walls 34 of the receptacle 32 and / or assay plate 70 as the gripper 100 moves toward the receptacle 32. A collision between the gripper 100 and the assay storage unit 30 and / or assay plate 70 may damage the robotic arm 50 and the assay storage unit 30 and / or otherwise result in a cessation of operation of the assay system 10. It will also be appreciated that when the gripper pads 120 are offset from their desired angular orientation, the gripping ability of the gripper pads 120 to grip an object may not be maximized, and therefore the effectiveness of the gripper pads 120 in gripping an object may be reduced. Conversely, with the gripper pads 120 maintained in their desired angular orientations by the gripper pad aligners 150, the gripper pads 120 can be inserted into the openings 36 such that the gripping surfaces 126 of the gripper pads 120 can be gripped onto the exterior surface of the assay plate 70 without bumping or striking the walls 34 of the receptacle 32. It will be further understood that the assay plate 70 is but one example of an object of the assay system 10 that can be gripped by the gripper 100.Examples of other objects in the assay system 10 that may be gripped by the gripper 100 include various boxes, containers, pipette tips, vials, test tubes, and / or other objects utilized by the assay system 10. Furthermore, in addition to gripping and transporting various objects, the gripper 100 may be utilized to manipulate or operate various instruments or other components of the assay system 10. For example, the gripper 100 may be used to operate various input / output (I / O) devices of the assay system 10, including switches, buttons, joysticks, keypads, and other devices.

[0045] 9 and 10 , another embodiment of a gripper 180 for a robotic arm (e.g., robotic arm 50 shown in FIG. 1 ) is shown. In particular, FIGS. 9 and 10 illustrate a pair of grippers 180 for gripping an object 60. Gripper 180 may include features in common with gripper 100 described above, and the common features are similarly numbered. In this exemplary embodiment, each gripper 180 generally includes gripper fingers 102, a pair of gripper pads 120, and a pair of gripper pad aligners 185 corresponding to the pair of gripper pads 120. In particular, the pair of gripper pads 120 of each gripper 180 are spaced apart along the longitudinal length of the gripper fingers 102 and are pivotally coupled to the gripper fingers 102 via a pair of pivot joints 130 that are correspondingly spaced apart longitudinally along the gripper fingers 102. In this configuration, the pair of gripper pads 120 of each gripper 180 are permitted to rotate independently of each other relative to the gripper fingers 102 .

[0046] The gripper pad aligners 185 of the gripper 180 are coupled between a pair of gripper pads 120 and the gripper fingers 102, with a first gripper pad aligner 185 coupled to and associated with the first gripper pad 120 of the gripper 180, while a second gripper pad aligner 185 is coupled to and associated with the second gripper pad 120 of the gripper 180. The gripper pad aligners 185 may be configured similarly to the gripper pad aligners 150 shown in Figures 2-8 and, therefore, will not be described in detail in this disclosure. Additionally, each gripper pad aligner 185 is offset by an offset distance 187 from the rotation axis 135 of the pivot joint 130 associated with the given gripper pad aligner 185 (shown in Figure 9).

[0047] FIG. 9 illustrates the gripper 180 prior to gripping the object 60, and FIG. 10 illustrates the gripper 180 actively gripping the object 60. As shown in FIG. 9 , prior to contacting the object 60, the gripper pad aligners 185 maintain their associated gripper pads 120 at a desired angular orientation relative to the gripper fingers 102. In particular, in this exemplary embodiment, the gripper pad aligners 185 maintain the gripper pads 120 in a substantially parallel relationship (described above) with the gripper fingers 102. As shown in FIG. 10 , upon contacting the object 60, the gripper pads 120 are permitted by the gripper pad aligners 185 to rotate relative to their associated gripper fingers 102, such that the gripping surfaces 126 of the gripper pads 120 each extend tangentially to the outer surface of the object 60, maximizing the gripping capability of the gripper 180 when gripping the object 60.

[0048] 6-10 illustrate grippers 100 (FIGS. 7, 8) and 170 (FIGS. 9, 10) arranged in pairs, it will be understood that in other embodiments, grippers (grippers 100, 170, and / or others described herein) may not be in pairs. For example, in some embodiments, a robotic arm (e.g., robotic arm 50 shown in FIG. 1) may be provided with a single gripper, an odd number of grippers, such as three grippers, etc.

[0049] 11 and 12, another embodiment of a gripper pad aligner 210 (shown in FIG. 11) of a gripper 200 (shown in FIG. 12) for a robotic arm (e.g., robotic arm 50 shown in FIG. 1) is shown. The gripper pad aligner 210 generally includes a plurality of pad alignment elements 230 and finger alignment elements 212. In this exemplary embodiment, each pad alignment element 230 includes a biasing finger and therefore may also be referred to as a biasing finger 230 in the present disclosure. Furthermore, in this exemplary embodiment, the finger alignment element 212 includes a base mechanically coupled to the plurality of biasing fingers 230 and therefore may also be referred to as a base 212 in the present disclosure. In this exemplary embodiment, the gripper pad aligner 210 includes a pair of biasing fingers 230 mechanically coupled to the base 212, although it will be understood that in other embodiments, the number and arrangement of the biasing fingers 230 may vary. For example, in other embodiments, the gripper pad aligner 210 may include a single biasing finger 230 or three or more biasing fingers 230 .

[0050] In this exemplary embodiment, the base 212 of the gripper pad aligner 210 includes lateral side panels 214 and lateral top panels 216 connected to the side panels 214 at an angle such that the base 212 defines receptacles 215 in which the gripper fingers 102 can be received. Additionally, the base 212 includes a plurality of side tabs 218 extending at an angle from a lower edge 217 of the side panels 214, and a plurality of top tabs 220 and 221 each extending at an angle from an edge of the top panel 216. In particular, a first pair of top tabs 220 are positioned along the sides of the top panel 216, and a second pair of top tabs 221 are positioned along openings 222 formed in the top panel 216. It will be understood that in other embodiments, the number and arrangement of the tabs 218, 220, and / or 221 on the base 212 of the gripper pad aligner 210 may be varied. For example, in other embodiments, the base 212 may include only one or more side tabs 218, but not the top tabs 220 and / or 221. Conversely, in some embodiments, the base 212 may include only one or more top tabs 220 and / or 221, but not the side tabs 218. In still other embodiments, the base 212 may not include the side tabs 218 or the top tabs 220 and / or 221, and instead may be secured to the gripper fingers 102 through other means, such as one or more fasteners.

[0051] In this exemplary embodiment, gripper 200 generally includes gripper fingers 102, gripper pad 120, and gripper pad aligner 210 coupled between gripper fingers 102 and gripper pad 120. A plurality of pad alignment elements 230 of gripper pad aligner 210 are coupled to gripper pad 120, and finger alignment elements 212 of gripper pad aligner 210 are coupled to gripper fingers 102. Additionally, tabs 218, 220, and 221 of base 212 are configured to be coupled to gripper fingers 102 by securing base 212 thereto, for example, to snap onto and fit onto the exterior of gripper fingers 102, thereby limiting relative movement between gripper fingers 102 and base 212 when base 212 is secured thereto. In this configuration, the base 212 may be manually snapped onto the gripper fingers 102 proximal to the ends of the gripper fingers 102, such that the pivot joint 130 aligns with the opening 222 formed in the top panel 216. It will be appreciated that in other embodiments, the base 212 may be configured to couple with the gripper fingers 102 through means other than the tabs 218, 220, and 221. For example, in some embodiments, the base 212 may be configured to couple with the gripper fingers 102 via one or more fasteners. As another example, in some embodiments, the base 212 may include a magnet that magnetically couples to a corresponding magnet on the gripper fingers 102. In this manner, tabs 218, 220, and 221 allow base 212 of gripper pad aligner 210 to be coupled and secured to gripper fingers 102 of gripper 100 without having to rely on separate fasteners, potentially minimizing the time required to attach gripper pad aligner 210 to gripper fingers 102. Gripper pad aligner 210 can be snapped onto gripper fingers 102 during initial assembly of gripper 100 or at a later point in time.However, it will be appreciated that in other embodiments, the base 212 may be secured to the gripper fingers 102 through a variety of mechanisms, both releasable (e.g., one or more separate fasteners) and permanent (e.g., welding, adhesives). In still other embodiments, at least the base 212 of the gripper pad aligner 210 may be integrally or monolithically formed with the gripper fingers 102.

[0052] In this exemplary embodiment, each biasing finger 230 extends longitudinally between a first or fixed end 232 mechanically coupled to the base 212 and a second or free end 234 opposite the fixed end 232 and allowed to move or flex relative to the base 212. In particular, the fixed end 232 of each biasing finger 230 is coupled to the base 212 along the lower edge 217 of the side panel 214, such that the biasing finger 230 protrudes from the lower edge 217 of the base 212. The biasing fingers 230 may be formed from a relatively flexible and resilient material, such as a plastic material, a metal material, or the like, that allows the free ends 234 of the biasing fingers 230 to flex relative to the base 212. It will be appreciated that the flexible material comprising the biasing member 230 may be selected such that the maximum deflection of the biasing fingers 230 is within the elastic limits of the flexible material. Additional materials may include, for example, stainless steel, beryllium copper, or the like. Furthermore, in this exemplary embodiment, each biasing finger 230 is curved along its longitudinal length such that each finger 230 defines a contact surface 236 for contacting the outer side 124 of the gripper pad 120. Specifically, the contact surface 236 is oriented toward the gripper pad 120 and spaced from its fixed end 232. However, it will be understood that the shape of the biasing finger 230 may be varied in other embodiments.

[0053] Further, it is noted that the pair of biasing fingers 230 are adjacent to the pivot joint 130 such that the first biasing finger 230 is positioned along the longitudinal axis 105 of the gripper finger 102 between the fixed end 104 of the finger 102 and the pivot joint 130, while the second biasing finger 230 is positioned along the axis 105 between the pivot joint 130 and the free end 106 of the gripper finger 102. In this configuration, the first biasing finger 230 of the gripper pad aligner 210 is engaged and flexed outward by the gripper pad 120 in response to the gripper pad 120 rotating in the first rotational direction 137 relative to the gripper finger 230. Upon being flexed outward by contact from the gripper pad 120, the first biasing finger 230 applies a biasing force against the gripper pad 120 about a moment arm corresponding to the offset distance between the first biasing finger 230 and the axis of rotation 135, resulting in the application of a torque about the axis of rotation 135 in the second rotational direction 139. Conversely, the second biasing finger 230 of the gripper pad aligner 210 is engaged and flexed outward by the gripper pad 120 in response to the gripper pad 120 rotating in the second rotational direction 139 relative to the gripper finger 230. Upon being flexed outward by contact from the gripper pad 120, the second biasing finger 230 applies a biasing force against the gripper pad 120 about a moment arm corresponding to the offset distance between the second biasing finger 230 and the axis of rotation 135, resulting in the application of a torque about the axis of rotation 135 in the first rotational direction 137. In summary, considering that the rotation axis 135 is located between a pair of biasing fingers 230 located along the same lateral side (outside 124) of the gripper pad 120, the biasing fingers 230 may rotate the gripper pad 120 in either of the rotational directions 137 and 139 to maintain the gripper pad 120 at a desired angular orientation relative to the gripper fingers 102.

[0054] 13 , a side view of another embodiment of a gripper 250 for a robotic arm (e.g., robotic arm 50 shown in FIG. 1 ) is shown. In this exemplary embodiment, gripper 250 generally includes gripper fingers 102, gripper pad 120, and a gripper pad aligner 260 coupled between gripper fingers 102 and gripper pad 120. Gripper pad aligner 260 generally includes a spring wire 262 extending between a first or pad end 264 and a second or finger end 266 longitudinally opposite pad end 264. In this exemplary embodiment, spring wire 262 has a pair of longitudinally opposed ends 264 and 266, although in other embodiments, spring wire 262 may be continuous, wrapped around, or positioned around gripper fingers 102 and gripper pad 120. Spring wire 262 is formed from a flexible, resilient material, such as an elastic material. In this configuration, a first section of spring wire 262, including pad end 264, defines a pad alignment element 268 of gripper pad aligner 260 that is coupled to gripper pad 120. Additionally, a second section of spring wire 262, including finger end 266, defines a finger alignment element 270 of gripper pad aligner 260 that is collectively coupled to gripper fingers 102 (including their fixed ends 104 and free ends 106), gripper pad 120 (including their outer side 124 and proximal side 128), and pivot joint 130.

[0055] In this exemplary embodiment, the pad alignment element 268 of the gripper pad aligner 260 is mechanically coupled to and integrally or monolithically formed with the finger alignment element 270. Thus, the gripper pad aligner 260 illustrates that embodiments of the gripper pad aligner may include a single monolithic or integrally formed member, in this exemplary embodiment, in the form of a spring wire 262. The spring wire 262 is offset from the rotation axis 135 such that rotation of the gripper pad 120 relative to the gripper fingers 102 deforms (e.g., stretches) the spring wire 262, causing the spring wire 262 to apply a force to the gripper pad 120. The force applied by the spring wire 262 in response to deformation therewith is converted into a rotational torque about the rotation axis 135 by the offset distance between the spring wire 262 and the axis 135, which rotates the gripper pad 120 back toward the desired angular orientation relative to the gripper fingers 102.

[0056] 14, a side view of another embodiment of a gripper 300 for a robotic arm (e.g., robotic arm 50 shown in FIG. 1) is shown. In this exemplary embodiment, gripper 300 generally includes gripper fingers 102, gripper pad 120, and a gripper pad aligner 310 coupled between gripper fingers 102 and gripper pad 120. In this exemplary embodiment, gripper pad aligner 310 includes a pad alignment element 320 coupled to gripper pad 120 such that relative movement is limited between pad 120 and element 320, and a finger alignment element 330 coupled to gripper finger 102 such that relative movement between alignment elements 320 and 330 is permitted, while relative movement between gripper finger 102 and finger alignment element 330 is limited.

[0057] In this exemplary embodiment, alignment elements 320 and 330 each include a magnetic material such that elements 320 and 330 are magnetically coupled together, rather than mechanically coupled together. In other words, pad alignment element 320 is mechanically coupled to finger alignment element 330 only through pivot joint 130, which extends between gripper finger 102 and gripper pad 120. In other words, there is no direct mechanical linkage or connection between alignment elements 320 and 330. Instead, the magnetic materials of alignment elements 320 and 330 each generate a magnetic field that interacts with one another, thereby generating a magnetic force in alignment elements 320 and 330. In some embodiments, the magnetic materials comprising alignment elements 320 and 330 include ferromagnetic materials, rare earth permanent magnetic materials, alloy materials (e.g., aluminum-nickel-copper alloys, stainless steel alloys, etc.), metallic materials (e.g., iron, nickel, etc.), electromagnetic materials, and others. It will further be appreciated that alignment elements 320 and / or 330 may comprise separate elements coupled to gripper pad 120 and gripper fingers 102, respectively. Alternatively, alignment elements 320 and / or 330 may be integrally or monolithically formed with gripper pad 120 and gripper fingers 102, respectively (e.g., fingers 102 and / or pad 120 may be at least partially formed from a magnetic material). Furthermore, alignment elements 320 and 330 may be positioned along the exterior or within internal openings or cavities of gripper pad 120 and gripper fingers 102, respectively, such as through mechanical, magnetic, or other coupling. For example, in some embodiments, alignment elements 320 and 330 may not be monolithically formed with gripper pad 120, but instead may be enclosed within an internal cavity of gripper pad 120.

[0058] In this exemplary embodiment, the magnetic material of alignment elements 320 and 330 is configured such that pad alignment element 320 is magnetically attracted to finger alignment element 330. While elements 320 and 330 are magnetically attracted to each other in this exemplary embodiment, it will be understood that in other embodiments, alignment elements 320 and 330 may be configured to magnetically repel each other. Considering that gripper pad aligner 310 is offset from rotation axis 135 by an offset distance, the magnetic force generated by alignment elements 320 and 330 is applied about a moment arm corresponding to the offset distance, resulting in an alignment torque (in either rotational direction 137 or 139, depending on the starting position of gripper pad 120) applied by pad alignment element 320 to gripper pad 120 in the direction of the desired angular orientation of gripper pad 120. In this particular example, magnetic alignment elements 320 and 330 attract pad alignment element 320 toward finger alignment element 330 to minimize the physical distance between elements 320 and 330, for example, so that elements 320 and 330 are aligned along a common or shared longitudinal axis 315, as shown in FIG. 14 (pad alignment element 320 is shown as being positioned substantially below finger alignment element 330 along axis 315). In this context, the term "substantially below" refers to alignment in which elements 320 and 330 are perfectly aligned along shared longitudinal axis 315, as well as alignment in which elements 320 and 330 are offset from one another along that axis by ±5° or less.

[0059] 15, a perspective view of another embodiment of a gripper 350 for a robotic arm (e.g., robotic arm 50 shown in FIG. 1) is shown. In this exemplary embodiment, gripper 350 generally includes gripper fingers 360, gripper pad 370, and a gripper pad aligner 400 coupled between gripper fingers 360 and gripper pad 370. Gripper pad aligner 400 includes a pad alignment element 410 coupled to gripper pad 370 such that relative movement is limited between pad 370 and element 410, and a finger alignment element 420 coupled to gripper finger 360 such that relative movement between gripper finger 360 and finger alignment element 420 is limited.

[0060] Gripper finger 360 is similar in configuration to gripper finger 102 shown in FIGS. 2-10 , except that, in this exemplary embodiment, finger alignment element 420 is integrally formed with gripper finger 360 and positioned along a lateral proximal side 362 of gripper finger 360 (facing and adjacent to gripper pad 370). Notably, finger alignment element 420 comprises a cylindrical protrusion in this exemplary embodiment and, therefore, may also be referred to as protrusion 420 in the present disclosure. Protrusion 420 is surrounded by an annular channel 364 formed in proximal side 362 of gripper finger 360, thereby forming a protrusion on proximal side 362 of gripper finger 360. While protrusion 420 is cylindrical in this exemplary embodiment, it may have configurations including a variety of other shapes (e.g., a cone shape with various numbers of distinct sides, a prismatic shape). The shape of channel 364 may also be varied depending on the shape of protrusion 420. As an example, in an embodiment, the protrusion 420 may be cubic-shaped with four distinct sides, with the channel 364 also having four corresponding sides adjacent to the sides of the protrusion 420. Additionally, the gripper fingers 360, in this exemplary embodiment, are formed from a magnetic material, including the protrusion 420. Accordingly, the protrusion 420 includes a magnetic element or member that generates a magnetic field extending therefrom. It will be appreciated that in other embodiments, the gripper pad 370 may include the protrusion 420, and the gripper fingers 360 may include the pad alignment element 410. Furthermore, while the protrusion 420 is integrally formed with the gripper fingers 360 in this exemplary embodiment, it will be appreciated that in other embodiments, the protrusion 420 may be formed separately from and coupled to the gripper fingers 360. Similarly, the pad alignment element 410 may be integrally or monolithically formed with the gripper pad 370, or may be formed separately from and coupled to the gripper pad 370.

[0061] Gripper pad 370 of gripper 300 is similar in configuration to gripper pad 120 described above, except that, in this exemplary embodiment, gripper pad 370 is radially spaced or offset from axis of rotation 135 (e.g., defined by pivot joint 130) and defines an internal receptacle 372 that receives pad alignment element 410 of gripper pad aligner 400. In particular, receiver 372 extends into a lateral proximal side 374 of gripper pad 370 and is positioned such that when gripper pad 370 is at a desired angular orientation about axis of rotation 135 relative to gripper fingers 360, receiver 372 extends concentrically with protrusion 420, such that the longitudinal axis of gripper pad 370 extends substantially parallel to the longitudinal axis of gripper fingers 360. In this context, the term "substantially parallel" will be understood to refer to an alignment in which the longitudinal axis of the gripper fingers 360 is perfectly aligned with the longitudinal axis of the gripper pad 370, as well as an alignment in which the longitudinal axis of the gripper fingers 360 is offset from the longitudinal axis of the gripper pad 370 by an angle of ±5° or less.

[0062] In this exemplary embodiment, the pad alignment element 410 of the gripper pad aligner 400 comprises a magnet or magnetic member and may therefore also be referred to as a magnet 410 in this disclosure. The magnet 410 is magnetically attracted to the protrusion 420 in this exemplary embodiment, and considering that the channel 364 forms an air gap space surrounding the protrusion 420, the magnet 410 is biased into alignment with the protrusion 420 such that a shared or common longitudinal axis 415 extends centrally through both the magnet 410 and the protrusion 420. In this configuration, the magnetic force generated by the magnet 410 and the protrusion 420 is applied to the gripper pad 370 as an alignment torque (due to the offset distance between the magnet 410 / protrusion 420 and the rotation axis 135) to rotate the gripper pad 370 in either rotational direction (depending on the original orientation of the gripper pad 370) to align the magnet 410 with the protrusion 420 along the shared longitudinal axis 415. While in this exemplary embodiment, the alignment of magnet 410 with protrusion 420 along shared longitudinal axis 415 corresponds to the desired angular orientation of gripper pad 370, it will be understood that in other embodiments, magnet 410, while being attracted to the magnetic members of gripper fingers 360, may not be aligned with protrusion 420 along the shared axis when pad 370 is at the desired angular orientation. While the void space formed by channel 364 is shown as annular in FIG. 15 , it will be understood that in other embodiments, both protrusion 420 and the surrounding void space may comprise a variety of shapes and geometries, including, for example, various prismatic shapes, cone shapes, cubic base shapes, etc.

[0063] 16, a perspective view of another embodiment of a gripper 450 for a robotic arm (e.g., robotic arm 50 shown in FIG. 1) is shown. In this exemplary embodiment, gripper 450 generally includes gripper fingers 460, gripper pad 470, and a pair of gripper pad aligners 500 coupled between gripper fingers 460 and gripper pad 470, respectively.

[0064] Gripper 450 includes several features in common with gripper 350 shown in FIG. 15. For example, each gripper pad aligner 500 includes a pad alignment element in the form of a magnet 410 coupled to gripper pad 470 such that relative movement is limited between pad 470 and magnet 410, and a corresponding finger alignment element in the form of a protrusion 420 coupled to gripper finger 460 such that relative movement is limited between gripper finger 460 and finger alignment element 420. While gripper pad aligner 500 is shown in FIG. 16 as including a pad alignment element in the form of magnet 410 and a finger alignment element in the form of protrusion 420, in other embodiments, the pad alignment element of gripper pad aligner 500 may include an element other than a magnet, and / or the finger alignment element of gripper pad aligner 500 may include an element other than a protrusion.

[0065] 15 , the magnet 410 of each gripper pad aligner 500 is magnetically attracted to the corresponding protrusion 420 of the respective gripper pad aligner 500, thereby biasing the magnet 410 into alignment with the protrusion 420 such that the shared or common longitudinal axis 415 of the respective gripper pad aligner 500 extends centrally through both the magnet 410 and the protrusion 420. In this configuration, the magnetic force generated by each gripper pad aligner 500 generates an alignment torque (depending on the original orientation of the gripper pad aligner 500) to rotate the gripper pad 470 in either rotational direction (depending on the original orientation of the gripper pad aligner 500) to align the magnet 410 with the protrusion 420 along the shared longitudinal axis 415 of the gripper pad aligner 500. Due to ) to the gripper pad 470.

[0066] Additionally, the gripper pad aligners 500 are positioned on opposite sides of the rotation axis 135 such that the axis 135 is located between the gripper pad aligners 500 along a common longitudinal axis (e.g., the longitudinal axis of the gripper fingers 460). In this configuration, each gripper pad aligner 500 applies an alignment torque to the gripper pad 470 in the same rotational direction about the rotation axis 135. In other words, the alignment torque applied by the first of the gripper pad aligners 500 is augmented by the alignment torque applied by the second of the gripper pad aligners 500. The additional alignment torque applied by the second of the pair of gripper pad aligners 500 increases the stability and self-centering ability of the gripper pad 470, making the gripper pad 470 generally more resistant to rotation about the rotation axis 135.

[0067] In this exemplary embodiment, the gripper pad aligners 500 apply an approximately equal amount of alignment torque to the gripper pad aligners 470; however, in other embodiments, the amount of alignment torque generated by the gripper pad aligners 500 may vary depending on the length of the moment arm (R) and / or the magnitude of the alignment force (F) applied by the gripper pad aligners 500. For example, a first gripper pad aligner 500 may be configured to generate a greater magnetic force than a second gripper pad aligner 500, such that the alignment torque generated by the first gripper pad aligner 500 is greater than the alignment torque generated by the second gripper pad aligner 500. Furthermore, while a pair of gripper pad aligners 500 is shown in FIG. 16 , in other embodiments, the gripper 450 may be configured to include three or more gripper pad aligners 500 (e.g., three, four, five, or six gripper pad aligners 500).

[0068] While exemplary embodiments have been shown and described, modifications thereof may be made by those skilled in the art without departing from the scope or teachings of the present disclosure. The embodiments described in this disclosure are illustrative only and not limiting. Many variations and modifications of the systems, apparatus, and processes described in this disclosure are possible and are within the scope of the present disclosure. For example, the relative dimensions of the various components, the materials from which the various components are made, and other parameters may be varied. Accordingly, the scope of protection is not limited to the embodiments described in this disclosure, but is limited only by the following claims, which scope is intended to include all equivalents of the subject matter of the claims. Unless expressly stated otherwise, the steps of a method claim may be performed in any order. The recitation of an identifier such as (a), (b), (c) or (1), (2), (3), etc., before steps in a method claim is not intended to and does not specify a particular order for the steps, but rather is used to simplify subsequent reference to such steps.

Claims

1. 1. A gripper assembly for a robotic arm, comprising: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper fingers such that the gripper pad is allowed to rotate relative to the gripper fingers about a rotational axis, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; a gripper pad aligner comprising: a pad alignment element coupled to the gripper pad; and a finger alignment element coupled to the gripper fingers, the pad alignment element coupled to the finger alignment element and configured to apply an alignment torque to the gripper pad that, when applied, rotates the gripper pad toward a first angular orientation about the axis of rotation between the gripper pad and the gripper fingers; a gripper assembly, wherein the pad alignment element comprises a biasing finger having a fixed end connected to the finger alignment element and a free end opposite the fixed end, and wherein the biasing force applied by the biasing finger results from bending of the biasing finger.

2. 2. The gripper assembly of claim 1, wherein the biasing fingers are configured to apply a biasing force to the gripper pad, the biasing force, when applied, causing the gripper pad to rotate toward the first angular orientation.

3. 2. The gripper assembly of claim 1, wherein the finger alignment element comprises a base securable to the gripper finger, and at least a portion of the biasing finger abuts one of the lateral sides of the gripper pad to bias the gripper pad toward the first angular orientation.

4. 4. The gripper assembly of claim 3, wherein the base comprises a top panel positioned along a proximal side of the gripper fingers and one or more first tabs extending from the top panel at a non-zero angle to secure the base to the gripper fingers.

5. 5. The gripper assembly of claim 4, wherein the base comprises side panels extending from the top panel and positioned along lateral sides of the gripper fingers, and one or more second tabs extending from the side panels at a non-zero angle for securing the base to the gripper fingers.

6. 4. The gripper assembly of claim 3, wherein the pad alignment element comprises a plurality of biasing fingers each abutting a first lateral side of the pair of lateral sides of the gripper pad to bias the gripper pad toward the first angular orientation.

7. The gripper assembly of claim 1 , further comprising a pivot pin extending from the gripper finger to the proximal side of the gripper pad and pivotally coupling the gripper pad to the gripper finger.

8. 2. The gripper assembly of claim 1, further comprising a plurality of gripper pads each pivotally coupled to a gripper finger such that the plurality of gripper pads are permitted to rotate relative to the gripper finger about a plurality of the rotational axes.

9. The gripper assembly of claim 8 , wherein the plurality of rotational axes are longitudinally spaced along the gripper fingers.

10. The gripper assembly of claim 1 , further comprising a plurality of said gripper pad aligners.

11. 10. The gripper assembly of claim 1, the gripper pad aligner comprises a first gripper pad aligner, the pad alignment element comprises a first pad alignment element, and the finger alignment element comprises a first finger alignment element; The gripper assembly further comprises a second gripper pad aligner comprising a second pad alignment element coupled to the gripper pad and a second finger alignment element coupled to the gripper fingers, the second pad alignment element being coupled to the second finger alignment element and configured to apply an alignment torque to the gripper pad when applied, rotating the gripper pad toward the first angular orientation.

12. The gripper assembly of claim 11 , wherein the axis of rotation is disposed longitudinally along the gripper fingers between the first gripper pad aligner and the second gripper pad aligner.

13. 1. An assay system comprising: A container containing a reagent; An assay system comprising: a pair of robotic arms configured to manipulate the position of the container, each of the robotic arms having a pair of the gripper assemblies described in claim 1 configured to grip the container between the pair of robotic arms.

14. 1. A gripper assembly for a robotic arm, comprising: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper fingers such that the gripper pad is allowed to rotate relative to the gripper fingers about a rotational axis, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; a gripper pad aligner comprising: a base formed integrally with the fingers; and a pad alignment element coupled to the gripper fingers and offset from the axis of rotation by a predetermined distance, the pad alignment element configured to apply an alignment torque to the gripper pad oriented in a direction of a first angular orientation about the axis of rotation between the gripper pad and the gripper fingers.

15. The gripper assembly of claim 14 , wherein the pad alignment element comprises a magnetic member received in an opening formed in the proximal side of the gripper pad.

16. 15. The gripper assembly of claim 14, wherein the gripper pad aligner comprises magnetic protrusions extending from sides of the gripper fingers and surrounded by channels formed in the sides of the gripper fingers, the magnetic protrusions magnetically attracting the pad alignment elements and aligning with the pad alignment elements when the gripper fingers are in the first angular orientation.

17. The gripper assembly of claim 16 , wherein the boss comprises a magnetic material and is integrally formed with the gripper fingers.

18. The gripper assembly of claim 16 , wherein the protrusions are attachable to the gripper fingers and comprise a magnetic material different from a material comprising the gripper fingers.

19. The gripper assembly of claim 14 , wherein the pad alignment element comprises a magnet coupled to the gripper pad.

20. The gripper assembly of claim 14 , wherein the pad alignment element comprises an elongated biasing finger abutting one of the pair of lateral sides of the gripper pad and extending toward the gripper fingers.

21. The gripper assembly of claim 14 , wherein the pad alignment element includes a spring wire, and the alignment torque includes a biasing force exerted by the spring wire due to elongation of the spring wire.

22. The gripper assembly of claim 14 , wherein the gripper pad aligner comprises a finger alignment element coupled to the gripper pad and offset from the axis of rotation by the predetermined distance.

23. 23. The gripper assembly of claim 22, wherein the pad alignment element comprises a first magnetic member and the finger alignment element comprises a second magnetic member magnetically attracted toward the pad alignment element.

24. 15. The gripper assembly of claim 14, the gripper pad includes a second angular orientation in a first rotational direction about the rotational axis that is spaced from the first angular orientation, and the alignment element applies a rotational torque in a second rotational direction opposite the first rotational direction when the gripper pad is in the second angular orientation; a gripper assembly, wherein the gripper pad includes a third angular orientation about the rotation axis that is spaced apart from the first angular orientation in the second rotational direction, and the alignment element applies a rotational torque in the first rotational direction when the gripper pad is in the third angular orientation.

25. 15. The gripper assembly of claim 14, wherein the alignment element is configured to restore the gripper pads to the first angular orientation when the gripper pads are in a second angular orientation spaced from the first angular orientation in a first rotational direction and when the gripper pads are in a third angular orientation spaced from the first angular orientation in a second rotational direction opposite the first rotational direction.

26. The gripper assembly of claim 14 , further comprising a pivot pin extending from the gripper finger proximal to the gripper pad and pivotally coupling the gripper pad to the gripper finger.

27. 15. The gripper assembly of claim 14, further comprising a plurality of gripper pads each pivotally coupled to a gripper finger such that the plurality of gripper pads are permitted to rotate relative to the gripper finger about a plurality of the rotational axes.

28. 15. The gripper assembly of claim 14, the gripper pad aligner comprises a first gripper pad aligner, the pad alignment element comprises a first pad alignment element, and the base comprises a first base; The gripper assembly includes a second gripper pad aligner including a second pad alignment element coupled to the gripper fingers and a second base coupled to the gripper fingers.

29. 29. The gripper assembly of claim 28, wherein the axis of rotation is disposed longitudinally along the gripper fingers between the first gripper pad aligner and the second gripper pad aligner.

30. 29. The gripper assembly of claim 28, the first pad alignment element comprises a first magnetic member, and the first base comprises a second magnetic member magnetically coupled to and magnetically attracted toward the first magnetic member; a gripper assembly, wherein the second pad alignment element comprises a third magnetic member, and the second base comprises a fourth magnetic member magnetically coupled to the third magnetic member and magnetically attracted toward the third magnetic member.

31. 1. A gripper assembly for a robotic arm, comprising: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad pivotally coupled to the gripper fingers such that the gripper pad is allowed to rotate relative to the gripper fingers about a rotational axis, the gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; a first gripper pad aligner comprising: a first finger alignment element having a first base securable to the gripper finger; and a first pad alignment element having a first biasing finger extending from the first base toward the gripper pad and abutting one of the lateral sides of the gripper pad; a second gripper pad aligner comprising: a second finger alignment element having a second base securable to the gripper finger; and a second pad alignment element having a second biasing finger extending from the second base toward the gripper pad and abutting one of the lateral sides of the gripper pad.

32. 32. The gripper assembly of claim 31 , wherein one of the first gripper pad aligner and the second gripper pad aligner includes one of a plurality of the first biasing fingers and second biasing fingers that each abut a first lateral side of the pair of lateral sides of the gripper pad to bias the gripper pad toward a first angular orientation.

33. 33. The gripper assembly of claim 32, the gripper pad includes a second angular orientation spaced apart from the first angular orientation in a first rotational direction about the rotational axis, and the one of the plurality of first and second biasing fingers applies a rotational torque in a second rotational direction opposite the first rotational direction when the gripper pad is in the second angular orientation; the gripper pad includes a third angular orientation in the second rotational direction about the rotation axis that is spaced apart from the first angular orientation, and the other of the plurality of biasing fingers of the first and second biasing fingers applies a rotational torque in the first rotational direction when the gripper pad is in the third angular orientation.

34. 33. The gripper assembly of claim 32, wherein at least one of the first gripper pad aligner and the second gripper pad aligner is configured to restore the gripper pad to the first angular orientation when the gripper pad is in a second angular orientation away from the first angular orientation in a first rotational direction, and to be configured to be opposite to the first rotational direction when the gripper pad is in a third angular orientation away from the first angular orientation in a second rotational direction.

35. 32. The gripper assembly of claim 31, wherein at least one of the first and second biasing fingers comprises a pair of biasing fingers each abutting a first lateral side of the pair of lateral sides of the gripper pad, the pair of biasing fingers being spaced apart from one another along the longitudinal axis of the gripper pad.

36. 32. The gripper assembly of claim 31, wherein the base of at least one of the first gripper pad aligner and the second gripper pad aligner is integrally formed with the fingers.

37. 32. The gripper assembly of claim 31, further comprising a plurality of gripper pads each pivotally coupled to a gripper finger such that the plurality of gripper pads are permitted to rotate relative to the gripper finger about a plurality of the rotational axes.

38. 32. The gripper assembly of claim 31, wherein the axis of rotation is disposed longitudinally along the gripper fingers between the first gripper pad aligner and the second gripper pad aligner.

39. 32. The gripper assembly of claim 31, wherein the axis of rotation is disposed longitudinally along the gripper fingers between the first gripper pad aligner and the second gripper pad aligner.

40. 32. The gripper assembly of claim 31, the first pad alignment element comprises a first magnetic member, and the first finger alignment element comprises a second magnetic member magnetically coupled to and magnetically attracted toward the first magnetic member; a gripper assembly, wherein the second pad alignment element includes a third magnetic member, and the second finger alignment element includes a fourth magnetic member magnetically coupled to and magnetically attracted toward the third magnetic member.

41. 1. A gripper assembly for a robotic arm, comprising: a gripper finger having a first longitudinal end and a second longitudinal end opposite the first end; a gripper pad having a pair of lateral sides, one of the lateral sides forming a gripping surface configured to grip an object, and a proximal side located between the pair of lateral sides; a gripper pad aligner comprising: a first magnetic member coupled to the gripper fingers and magnetically attracted to the first magnetic member; and a second magnetic member coupled to the gripper pad and configured to apply an alignment torque to the gripper pad oriented in a direction of a first angular orientation about a rotation axis between the gripper pad and the gripper fingers.

42. 1. A gripper pad aligner for a gripper assembly of a robotic arm, comprising: a pad alignment element configured to couple to a gripper pad of the gripper assembly; a finger alignment element configured to couple to a gripper finger of the gripper assembly, the pad alignment element configured to couple to the finger alignment element and to apply an alignment torque to the gripper pad when the finger alignment element is coupled to the gripper pad, rotating the gripper pad toward a first angular orientation about a rotation axis between the gripper pad and the gripper finger.

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