| 摘要 |
PURPOSE: A gripper using a link structure and a wire drive mechanism is provided to improve the control reliability of a gripper and simplify the structure of a gripper by using a single driving wire. CONSTITUTION: A gripper(100) using a link structure and a wire drive mechanism comprises first and second operators(11, 12), first and second capstans(21, 22), a rotary shaft(30), a driving wire(40), first and second link members, and a wrist member(60). The first and second operators perform gripping. The first and second capstans control the opening and closing of the first and second operators. The rotary shaft connects the first and second capstans. The driving wire controls the rotational motion of the first capstan through tensioning force. One ends of the first and second link members are connected to the first and second capstans and the other ends are connected to the link pin and overlapped with each other. The link pin is inserted to the position corresponding to the link pin through a linear guide slot(63). |
