Object i.e. workpiece, gripping method for e.g. robot, involves performing gripping of object such that gripper tool contacts object, and partially supplying energy required for gripping object from energy storage

摘要

The method involves performing gripping of an object i.e. workpiece (10), such that a gripper tool contacts the object. Energy required for gripping the object is partially supplied from an energy storage in the gripper tool. Gripping force, gripping rate and movement path of individual gripping elements are realized by variable action on a sensor element (4). The sensor element is associated with a gripper arm (8). The gripping force is applied by movement of the sensor element towards proximity of the object. An independent claim is also included for a gripper tool comprising a gripper arm.