DEVICE FOR MOVING TOOL GRIPPER AND METHOD OF DRAWING MOTION PATH.

摘要

A tool gripper moving device small in size, light in weight, and capable of moving a tool at high speed and with high precision; and a method of drawing a motion path of said tool. The device is provided with two motors (3, 4), rotating bodies (11, 13) driven by said motors, and a tool (19) supported in an eccentric relation with the rotating bodies, thereby producing two kinds of rotational motions of the rotating bodies whose rotational centers are different from each other and controlling these rotational motions at the same time to move the tool only. In the method of drawing a motion path of the tool, an approaching path (b) from the motion starting point (e) of the tool to the entry point (g) of the motion path is tangential to a motion path (a) of the tool.