ADAPTIVE GRIPPING ROBOT USING THE BUCKLING CHARACTERISTIC OF A FLEXIBLE JOINT

摘要

The present invention relates to an adaptive gripping robot using the buckling characteristic of a flexible joint. The adaptive gripping robot includes: a lower link plate; an upper link plate disposed above the lower link plate to face the lower link plate, and which is movable in the pulling direction with respect to the lower link plate; a gripper link plate disposed between the side ends of the upper and lower link plates; a gripper having one end fixed to and extending from the gripper link plate and the other end extending toward the lower portion of the lower link plate to grip the surface of an object, and which includes a gripper leg; and an actuator providing a pulling force between the upper and lower link plates. The gripper link plate is connected to each of the upper and lower link plates by using a flexible joint. The flexible joint connecting the upper link plate to the gripper link plate may be bent in two directions opposite to each other when the pulling force between the upper and lower link plates acts thereon.