FIELD: transportation.
SUBSTANCE: invention relates to the gripping devices and is intended for the arbitrary shaped objects lifting and transporting in the automated mode. Grip contains a control system and an electromechanical system, including a housing with actuators and pins mounted thereon, each of which consists of phalanges with mounted on contact surfaces tactile sensors. Housing and the pins phalanges are made of the same type modules with the ability to adapt to the objects being moved sizes. Between the pins phalanges and between adjacent to the housing pins phalanges and the housing, modules with controlled stiffness are installed, and the control system is equipped with the stiffness control unit, which output is electrically connected to the controlled stiffness modules control inputs.
EFFECT: invention enables the transported objects gripping improved reliability due to the grip stiffness adaptation to the transported object weight and fragility.
1 cl, 4 dwg
