Patent ID: 8474893

Claim:
A grasping apparatus comprising: a base unit; left and right parallel links each including, a first link attached pivotably to a base shaft of the base unit, and configured to pivot in a first direction and a second direction, a second link attached pivotably to an auxiliary shaft that is not co-linear to the base shaft of the base unit, and configured to pivot in the first direction and the second direction, a finger unit supported pivotably at an end of the first link and an end of the second link and including a grasping surface, the left and right parallel links being substantially symmetrical to each other, and a claw that projects at an obtuse angle with respect to and along a first edge of the grasping surface of the finger unit, and configured to guide an object toward the grasping surface of the finger unit; and a driving unit that is housed in the base unit and is configured to drive the first links of the left and right parallel links in the first direction and the second direction, wherein the grasping surfaces of the left and right parallel links face each other.