Thk Co., Ltd.

Mamoru Mitsuishi

Jumpei Arata

Toji Nakazawa

Shinichi Warisawa

A bending forcepshas at least three degrees of freedom including relative opening/closing of a pair of gripping members, rotation of both the gripping members around a first axisand rotation of both the gripping members around a second axisexisting on an imaginary plane substantially perpendicular to the first axis. A drive power from an actuator is converted to each motion of the opening/closing of the gripping members, rotation thereof around the first axis and rotation thereof around the second axis by first to third link mechanismsand. The present invention enables the durability and control accuracy to be raised by employing a link mechanism as a drive power transmitting means. Further, the present invention facilitates sterilization, cleaning and attachment/detachment to/from a driving means.

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Kasugai, Japan

Jumpei Arata