| 摘要 |
<p>PURPOSE: To control gripper parts with no sliding motion of the mechanism and thus prevent the generation of dust perfectly by providing magnetic substances on elastic carrier so as to be attracted by electromagnets being energized and by fixing the gripper parts to the magnetic substances. CONSTITUTION: A magnetic reluctance element 10 or 10a detects the position of a gripper part 5 or 5a and outputs a detection signal, which is A/D-converted in an A/D converter 11 and input into a current decision means 7. The current decision means 7 computes the intensity of current according to the relationships between the position of an electromagnet 2 or 2a, the electromagnetic force of a magnetic substance 3 or 3a and the current amount of the electromagnet 2 or 2a all stored in a memory 13. In conformance to the computed current amount, a servo amplifier 8 controls the current amount carrying through the electromagnet 2 or 2a. The electromagnetic force caused by the current attracts the magnetic substance 3 or 3a, which is mounted on an elastic carrier 4 or 4a, to deform it. This deformation causes the gripper part 5 or 5a fixed to the magnetic substance 3 or 3a to have force used to grip an object with no generation of dust.</p> |
