| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot which includes a holding device for stably holding a gripped object which is formed of soft material or of which a surface is slippy.SOLUTION: A gripping device includes a first gripping part and a second gripping part. At least one of the first gripping part and the second gripping part includes: a flexible gripping film; a first fixing part to which the gripping film is fixed and which is held by a drive part for moving the first gripping part and the second gripping part closer to each other; a second fixing part to which the gripping film is fixed at a part different from a part of the gripping film fixed by the first fixing part; and a first support part and a second support part rotatably fixed to the first fixing part. The first support part and the second support part are arranged on a rear surface side of a surface of the gripping film contacting with a gripped object.</p> |
