| 摘要 |
A pressure actuated gripping apparatus for use as a robot hand or in other applications. The device comprises a plurality of fingers moveable in response to pressurization with a fluid such as hydraulic oil. The apparatus includes a casing made of soft flexible material which is pre-shaped to assume an end flexed equilibrium position in response to pressurization with fluids. Each finger includes a longitudinal stiffening member which is flexible in a bending plane defined by motion of the finger between a flexed and an extended release position. In planes perpendicular to the bending plane, the stiffening member is substantially rigid. Each finger includes two longitudinally extending fluid chambers, and means for alternately charging and discharging the chambers. A set of first chambers, one in each finger, is connected to a common source of pressure, and the chambers communicate with one another. Pressurization of a first set of chambers, one in each finger, causes the device to assume its flexed equilibrium end configuration. Pressurization of the other set causes the device to assume its extended release configuration.
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