A GRIPPER ASSEMBLY FOR HANDLING VARIABLE-SHAPED OBJECT

摘要

The invention also relates to a gripper assembly (GA) for handling a variable-shaped object, comprising: -a frame (FR); -at least two gripper fingers (GF1, GF2), each gripper finger having a gripper finger body (PL) that is mounted to said frame, wherein each gripper finger is provided with at least one inflatable bladder (BL) that is effective in a space in between the at least two gripper fingers, said bladder being adapted to grip the object, wherein at least one, preferably all, gripper finger bodies are moveably, preferably translationally, mounted to the frame, and in that the gripper assembly comprises actuation means (AM) to move the gripper finger bodies of the at least two gripper fingers relative to each other to adapt the size of the space in between the at least two gripper finger bodies in addition to inflation of the bladder.