Gripper and robot apparatus including gripper thereof

A robot apparatus, comprising:

• a main body;
• and
• a gripper coupled to the main body,
• wherein the gripper comprises:
• a palm module configured such that finger modules of different forms are detachably couplable to the palm module;
• a plurality of finger modules detachably coupled to the palm module;
• a linear actuator configured to adjust a distance between the plurality of finger modules that are detachably coupled to the palm module;
• and
• a plurality of rotation actuators between the linear actuator and the plurality of finger modules, of the plurality of rotation actuators configured to respectively rotate the plurality of finger modules about respective first rotation axes extending in a first direction from the palm module toward the plurality of rotation actuators.

A gripper, comprising:

• a processor,
• a palm module configured such that finger modules of different forms are detachably couplable to the palm module;
• a plurality of finger modules detachably coupled to the palm module;
• a linear actuator configured to adjust a distance between the plurality of finger modules that are detachably coupled to the palm module;
• and
• a plurality of rotation actuators between the linear actuator and the plurality of finger modules, the plurality of rotation actuators configured to respectively rotate the plurality of finger modules about respective first rotation axes extending in a first direction from the palm module toward the plurality of rotation actuators,
• wherein the processor is configured to:
• based on a first finger module of a first form being coupled to the palm module, receive first module information of the first finger module and control at least one rotation actuator of the plurality of rotation actuators to which the first finger module is coupled and the linear actuator to perform an operation corresponding to the first module information, and
• based on a second finger module of a second form being coupled to the palm module, receive second module information of the second finger module and control at least one rotation actuator of the plurality of rotation actuators to which the second finger module is coupled and the linear actuator to perform an operation corresponding to the second module information.