| 摘要 |
PROBLEM TO BE SOLVED: To provide a hand capable of surely gripping and holding an object regardless of the weight, friction coefficient and roughness of a workpiece to be grasped.SOLUTION: A spherical surface 2 larger than the spherical surface of a spherical body 1 is formed on a part of the spherical body, and the spherical body is held by a holding portion 3. The large spherical surface 2 and a large spherical surface 2' are attached to facing surfaces of an arm a and an arm b of a clamp, respectively, which are opposite to each other and movable while maintaining balance in such a manner that the spherical surfaces concentrically abut on each other. When a workpiece is held with the large spherical surfaces 2, 2' in contact therewith, the workpiece does not come off in any direction while it can be easily released by opening the clamp. |
