Patent ID: 9073208
Filing Date: 2015-07-07
Classification: B25J,G05B

Abstract:
1. A gripper apparatus, comprising: at least one gripper unit, and each gripper unit is configured with: a first connecting rod, having a first end and a second end that are arranged opposite to each other; a second connecting rod, having a third end and a fourth end that are arranged opposite to each other while enabling the third end to couple to the second end of the first connecting rod; an elastic part, disposed at a joint of the first and the second connecting rods to be used for enabling the first connecting rod to couple elastically to the second connecting rod; a driver, connected to the fourth end so as to be used for driving the second connecting rod and the first connecting rod to swing in synchronization; an encoder, connected electrically to the elastic part to be used for measuring and encoding a deformation of the elastic part into a force information; and a controller, electrically and respectively connected to the encoder and the driver, for switching a operation mode of the gripper apparatus according to the force information.