| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a gripper that can both grip and rotate in a simple structure and provide sufficient gripping force, and can be stopped at any angle for gripping/opening and reduced in cost.SOLUTION: The gripper is provided with; a base; a gripping portion attached rotatably to the base; a driving motor that directs the gripping portion to perform a gripping motion and perform a rotating motion; a torque control device, arranged in connection with the gripping portion, which directs the gripping portion to perform the gripping motion when torque loaded on the gripping portion is equal to predetermined limit torque or less, and directs the gripping portion to perform the rotating motion (following the gripping motion) when torque loaded on the gripping portion exceeds the limit torque.</p> |
