| 摘要 |
PURPOSE: A gripper controlling gripping force is provided to stably grip and move an object by uniformly keeping gripping force regardless of the shape of the object and to stably fix a constructed object by minimizing the change of applied power to the space between the constructed object and jig. CONSTITUTION: A gripper controlling gripping force is composed of a plurality of jaws(101,102,103) moving between a closed position and an open position where an object is gripped and not gripped respectively, a jaw driving unit moving the jaw into the closed position or open position, gripping force sensors(112), and a control unit. The gripping force sensors are mounted to the jaws respectively, and measure the gripping force between the jaws and the object. The control unit controls the jaw driving unit to adjust the gripping force. The jaw driving unit includes guide units(121,122,123) for guiding the motion of the jaws, cam(201,203) contacting with one end of each jaw and moving the jaws, racks(301,302,303) engaged with each cam, springs(401,402,403) keeping the cams contacting with the other end of each jaw, and an actuator(10) moving the racks forward and backward.
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