| 摘要 |
PROBLEM TO BE SOLVED: To relax limitation of a size of an object to be gripped. SOLUTION: A gripper 1 includes a gripping means 2 for gripping the object, a first driving means for activating the gripping means 2 by means of a motor 4, a second driving means for activating the gripping means 2 by means of a support unit 3 incorporating a piezoelectric element, a load sensor 40 and a distortion gage 42 for detecting gripping force when the gripping means 2 grips the object. The gripping means 2 includes a first gripping member 2A and a second gripping member 2B provided oppositely to the first gripping member 2A, and grips the object between the first gripping member 2A and the second gripping member 2B. The first driving means using the motor 4 activates the second gripping member 2B, and the second driving means using the support unit 3 incorporating the piezoelectric element activates the first gripping member 2A. COPYRIGHT: (C)2010,JPO&INPIT |
