OBJECT HANDLING DEVICE

摘要

A current is supplied from a drive control section (T) to the piezoelectric element means (3) of a vibration actuator (A) and a rotor (4) is rotated thus handling an object by means of a joint mechanism. To grasp the object by the joint mechanism and sustain such state, current supply from the drive control section (T) to the piezoelectric element means (3) is stopped and rotation of the rotor (4) for the stator (2) is prevented by static torque, thus sustaining a state where the object (M) is grasped by the joint mechanism. When current supply is stopped, the drive control section (T) detects stress and temperature by measuring the voltage of each piezoelectric element plate in the piezoelectric element means (3) and when a stress more than a predetermined value is detected, the drive control section (T) supplies a current to the piezoelectric element means (3) such that the state of the joint mechanism at that time is sustained and drives the vibration actuator (A).