Robot gripper and method for its manufacture

A robot gripper comprising:

• a fixing flange for detachably attaching the robot gripper to a robot manipulator arm;
• and
• at least one actuator element that is supported in a frame,
• wherein the at least one actuator element actuates at least two gripper jaws of the robot gripper indirectly or directly kinematically via at least one articulated unit,
• wherein at least the fixing flange, the frame and the at least one actuator element are manufactured integrally using a generative manufacturing method,
• wherein the actuator element is shaped as a bellows, encloses an internal volume, which can be filled with a medium via at least one opening, and is capable of expanding, when filled with the medium, along a linear axis predetermined by the bellows design of the actuator element and of contracting, when the volume is emptied, in the opposite direction, and
• wherein the bellows-shaped actuator element is arranged symmetrically on a frame section and encloses two sub-volumes of the internal volume inter-communicating through the frame section, which when filled with the medium the sub-volumes expand along a common linear axis but in opposite directions, and that both sub-volumes, each facing away from the frame section, are operatively connected to a lever arm, which is respectively integrally joined via an articulated unit connected to the frame to a respective gripper jaw, which is pivotably mounted about a film joint.