Gripper with force sensing means, provided with an articulated structure with a plurality of degrees of freedom and inserted between its contact plate and its support

摘要

the gripping device to measure effort with several degrees of freedom articulated structure interposed between the contact plate and the carrier.;he has two fingers movable to clamp an object to be manipulated. each finger is formed by:a substrate, a contact plate (18) which is in contact with the object to handle, an articulated structure (20) having multiple degrees of freedom, is interposed between the contact plate (18) and the substrate, a measuring transducer movement (32, 42, 48) with each of the g res of freedom of each finger.the sensor issuing information related only to the movements in this degree of freedom.