| 摘要 |
PURPOSE:To provide a gripper which is not formed in a large size, controls the opening and closing operation of the gripper by detecting the pressure applied to its gripping part, generates no damage of a gripped substance or the gripping part of gripper itself, and can grip the work securely. CONSTITUTION:This microgripper is provided with an actuator 2 to operate to open and close a grip 1, a driving means 4 to drive the actuator 2, a detecting means 3 to detect the operating movement amount of the actuator 2, and an operation means 5 to calculate the gripping pressure of the grip 1 from the variation amount of the output signal of the detecting means 3 and to control the operation of the actuator 2. |
