Patent ID: 8011708

Claim:
A robot gripper comprising: a fixing flange for detachably attaching the robot gripper to a robot manipulator arm; and at least one actuator element that is supported in a frame, wherein the at least one actuator element actuates at least two gripper jaws of the robot gripper indirectly or directly kinematically via at least one articulated unit, wherein at least the fixing flange, the frame and the at least one actuator element are manufactured integrally using a generative manufacturing method, wherein the actuator element is shaped as a bellows, encloses an internal volume, which can be filled with a medium via at least one opening, and is capable of expanding, when filled with the medium, along a linear axis predetermined by the bellows design of the actuator element and of contracting, when the volume is emptied, in the opposite direction, and wherein the bellows-shaped actuator element is arranged symmetrically on a frame section and encloses two sub-volumes of the internal volume inter-communicating through the frame section, which when filled with the medium the sub-volumes expand along a common linear axis but in opposite directions, and that both sub-volumes, each facing away from the frame section, are operatively connected to a lever arm, which is respectively integrally joined via an articulated unit connected to the frame to a respective gripper jaw, which is pivotably mounted about a film joint.