| 摘要 |
<p>The gripper (1) has gripper fingers (6) whose retaining portions (8) are arranged eccentrically in relation to the associated finger rotation axis (5). The gripper fingers are driven by drive (9). A drive (10) is provided for twisting the gripper base (4) relative to base portion (2). A control unit is provided for controlling drives (9,10). The retaining portions of gripper fingers are linearly moved relative to base portion based on rotation of gripper fingers relative to gripper base and rotation of gripper base relative to base portion.</p> |
