Patent ID: 9272422
Filing Date: 2016-03-01
CPC Classification: B25J

Claim Text:
1. A grasping method by a grasping apparatus that is provided with a grasping portion that grasps a workpiece and has a plurality of pawl portions that grip the workpiece, and a plurality of contact portions that are provided on portions of the plurality of pawl portions, which contact the workpiece, and that are able to be hardened, the method comprising: conforming the contact portions to an outer shape of a master workpiece that has an outer shape that is able to deform the contact portions to a shape for positioning the workpiece; hardening the contact portions in a state conformed to the outer shape of the master workpiece and deformed to the shape for positioning the workpiece; positioning the workpiece by pushing the workpiece with the contact portions having the shape for positioning the workpiece; and grasping the positioned workpiece with the grasping portion.