Robot Gripper Having A Drive Device

A robot gripper, comprising:

• a gripper main body;
• a first gripper finger and at least one second gripper finger supported on the gripper main body;
• a base element mounted for rotation about a first rotational axis relative to the gripper main body by a first rotary joint;
• an intermediate element mounted for rotation relative to the base element by a second rotary joint;
• a finger carrier carrying the first gripper finger and mounted such that it can rotate relative to the intermediate element by a third rotary joint;
• and
• a drive device that is separate from the first rotary joint, the second rotary joint, and the third rotary joint, the drive device supported against the gripper main body and configured to adjust the finger carrier relative to the second gripper finger by application of a drive force introduced into the finger carrier by the drive device.

The robot gripper of 27, wherein the constraining means comprises:

• a journal connected to the intermediate element;
• and
• first and second cables;
• the first and second cables each having a first cable end respectively fastened to the journal, and each having a second cable end respectively fastened to the base element.