| 摘要 |
PROBLEM TO BE SOLVED: To grasp various objects having different shapes certainly without risk of damaging, lessen the dislocation likely at the time of assembling the object and a finger, and generate an appropriate grasping force and appropriate pressing force at the time of installation. SOLUTION: Grasping the object is made in such a way as moving fingers 1 in the closing direction until the sensing values of force measuring means installed at the base ends of the fingers become their respective appropriate values, and when the grasped work is to be installed, the sensing values will change due to touching other component as the party to which the installation is intended. If at the time of installation, the changing amount of any of the sensing values has exceeded the specified level, each finger 1 is moved in the direction of lessening the changing amount of sensing so that the sensing value in the finger 1 extending direction becomes appropriate value, and thus it is possible to execute proper locating and installing works.
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