Microgripper and method for measuring the gripping force of a microgripper

摘要

Microgripper (10) with (a) a first gripper arm (16), the - a first jaw (20) and - at least one first zone (40), (b) a second gripper arm (18), of a second jaw (22), and (c) a drive (24) for moving at least one gripping arm (16, 18), so that an object (14) with a gripping force (f) can be gripped, wherein (d) of the first gripper arm (16) at least one first marking (26), (e) of the microgripper (10) a position detecting device (30) for measuring a position (p) of the marking (26) and (f) the at least one first marking (26.1) is arranged in such a way that from their position (p) the gripping force (f) can be calculated.