Enveloping gripper

摘要

A remotely controllable gripper for picking up and setting down objects of various shapes and sizes, comprising a plurality of gripper arms which can be drawn together to enfold the object, by a continuous snare line attached to a support plate and engaged, via a parallel thrust plate, with each of the arms. The snare is tightened by increasing the separation of the thrust plate from the support plate by the operation of an interjacent bellows actuator.