Abstract
We developed a parallel jaw gripper with a force magnification mechanism that can exert a large grip force of 200N. The motion range of the jaw is 100 mm, and its speed is 66 mm/s, and its weight is 2000g. We have proposed a combination mechanism of a high-speed driving and force-magnification mechanism. However the proposed force magnification mechanism can exert a large grasping force only in the closing direction. Moreover it needs to use some non-backdrivable mechanisms, and it has possibility of lock up. The parallel jaw gripper has an improved force magnification mechanism that can magnify the grasping force in both the opening and closing directions, avoiding mechanical lock up. The grasping procedure that can exert a maximum grasping force is also discussed.
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