Under-actuation type gripper capable of gripping asymmetrical object

Abstract

An under-actuation type gripper capable of gripping asymmetrical objects is provided. The under-actuation type gripper may include: a frame providing a base surface; at least two or more finger portions provided on the frame in a form of facing each other and having a finger tip at an end; and a driving portion mounted onto the frame and configured to provide a driving force to the finger portion so as to grip an object to be gripped, wherein the finger portion includes: a first link installed between the driving portion and the finger tip, providing a contact surface for the object to be gripped, and having at least one joint portion; a second link connected to longitudinal upper and lower ends of the first link and forming a trapezoidal link mechanism with the first link; and a third link connected to longitudinal upper and lower ends of the first link, forming a double parallelogram link mechanism with the first link in a longitudinal direction of the first link, and being unlocked from the second link.

Dependencies are inferred from the claim text.