GRIPPER IMPROVING BACKLASH AND CONTROL CHARACTERISTICS

摘要

A gripper for gripping an object includes multiple gripping portions moving to be adjacent to or apart from each other; a transfer link portion capable of rotating around a body portion, and moving the gripping portions with respect to the body portion; and a work link portion rotating the transfer link portion around the body portion, wherein the work link portion includes a slider capable of moving in a straight line along a guide rail formed at the body portion; and a crank mechanism moving the slider in a straight line by rotation of an actuator, and the transfer link portion rotates around the body portion by the straight motion of the slider to simultaneously move the gripping portions.