| 摘要 |
PROBLEM TO BE SOLVED: To allow smooth transition to a stable grasping condition without generating any slide between a grasping tool and a grasped body, using rolling contact between the grasping tool and the grasped body. SOLUTION: The plural pairs of grasping tools 105, 106 and 107, 108 attached movably on the same straight line of a support frame while interlocked each other to allow contact and separation are movable independently, the each grasping tool has an abutting part 113 brought into contact with the grasped body, and the each abutting part 113 is provided rotatably to keep the rolling contact with the grasped body around an axis parallel to a normal in a moving plane of the plural pairs of grasping tools, when grasping the grasped body. COPYRIGHT: (C)2003,JPO |
