Robotic handling gripper using three fingers

This paper presents the device and method to drive handling gripper using multi links mechanism in stepwise. The driving mechanism is related with the driving control bar to be moved. Stepwise driving parts to have driving power are arranged on moving path of driving control bar and driven by releasing the constraint as the driving control bar is approached closely. If the approach of driving control bar is released it contains the driven part to be constraint. It has the characteristics that the several driven parts are driven in serial according to approaching of control bar. There is the step to relate the multi axes link device to be driven in serial and the driving part to be idle state on established path with the driving control bar. There is the step to check approaching of driving control bar to several driven parts on moving path of driving control bar. There is the step to drive the driven part after releasing the constraint of the driven parts when the driving control bar approaches to one of several driven parts. The stepwise driving method of multi links has the characteristics to contain the step to constraint the driven part when the driving control bar is released.