| 摘要 |
PROBLEM TO BE SOLVED: To grip a gripping object in a profiling operable manner, by using a simple constitution. ! SOLUTION: A gripping device 8 has a pair of gripping pieces 42 that are freely openable/closable, and one flexible gripping part 62 each is attached to the gripping pieces 42 via a compliance mechanism. In control units 71 to 73 implementing the compliance mechanism, two spherical bodies 81 and 82 having different rigidity and outer diameters are accommodated inside a deformable flexible member 61, and a pair of plates 90 and 91 are arranged so as to interpose the two spherical bodies 81 and 82. When vacuuming inside the control units 71 to 73, a distance between the pair of plates 90 and 91 is reduced and a width is fixed to a constant value. According to rotation of the spherical bodies 81 and 82, the plates 90 and 91 move by sliding in a direction orthogonal to a width direction, and thereby the flexible gripping parts 62 slidingly move relative to the gripping pieces 42 such that a gripping |
