| 摘要 |
This gripping mechanism (3) is provided with: a first gripping piece (5) and second gripping piece (6) that are swingably connected to each other about a swing axis (A1); a traction pulley (7) that is supported by the second gripping piece (6) so as to be rotatable about a rotational axis (A2) that is parallel to the swing axis (A1); and a wire (8) that has a tip fixed to one gripping piece (5) and is wound around the traction pulley (7) such that the combined force (F') of tensile forces (f1', f2') on both sides of the traction pulley (7) that sandwich the rotational axis (A2) generates a rotational moment (M') in the closing direction of the second gripping piece (6) about the swing axis (A1). |
