Gripper and robot including the same

A gripper comprising:

• a base body;
• a linkage disposed at a side of the base body and rotatably coupled to the base body;
• and
• a fingertip disposed at a side of the linkage and rotatably connected to the linkage,
• wherein the linkage comprises:
• a first link part having (i) a first side rotatably coupled to the side of the base body and (ii) a second side that is rotatable relative to the fingertip, the first link part comprising a first-first link that is disposed at the first side of the first link part and rotatably coupled to a first region at the side of the base body, and
• a second link part having (i) a first side rotatably coupled to the side of the base body and (ii) a second side that is rotatable relative to the fingertip, the second link part comprising a second-first link that is disposed at the first side of the second link part and rotatably coupled to a second region at the side of the base body,
• wherein the first-first link is configured to, based on an external force being removed from the gripper, define a first angle between a lower surface of the base body and a first extension direction of the first-first link from the first region of the base body, and
• wherein the second-first link is configured to, based on the external force being removed from the gripper, define a second angle between the lower surface of the base body and a second extension direction of the second-first link from the second region of the base body, the second angle being different from the first angle.