Gripping hand and gripping hand assembly with an actuator element which has a shape memory alloy

Abstract

Gripping hand (500), comprising: several gripping structures (502), each of the several gripping structures (502) comprising: a gripping element (504) which is at least partially spring-elastic deformable such that the gripping element (504) can be brought into at least a first gripping position and a second gripping position; a one-way actuator element (506) which comprises or consists of a shape memory alloy;wherein the gripping element (504) and the one-way actuator element (506) are configured such that the gripping element (504) is in the first gripping position when the one-way actuator element (506) is in a first actuator state, and that the gripping element (504) is in the second gripping position when the one-way actuator element (506) is in a second actuator state, wherein the first gripping position and the second gripping position define a gripping area for gripping an object, and wherein the gripping element (504) of the respective gripping structure (502) has or is formed from a fiber composite material (108, 110), wherein the respective one-way actuator element (506) is embedded in the fiber composite material (108, 110);wherein the respective disposable actuator element (506) is connected to fibers (108) of the fiber composite material (108, 110) in at least two fixing areas (112a, 112b), preferably by means of a textile connection, and wherein a sliding layer (114) is provided in an area (112z) between the at least two fixing areas (112a, 112b) between the respective disposable actuator element (506) and the fiber composite material (108, 110) for decoupling the respective disposable actuator element (506) from the fiber composite material (108, 110).

Description

[0001] Various embodiments relate to a gripper, a gripper arrangement, a gripping hand and a gripping hand arrangement.

[0002] Motion mechanisms, particularly gripping mechanisms, are used in a wide variety of engineering fields. This results in numerous applications in the manufacturing industry, such as in the packaging and food industries, in the medical field, for example in prostheses, and in many other areas. The motion mechanisms can be adapted to their specific purpose.

[0003] Traditionally, gripping mechanisms, or movement mechanisms in general, are based on a so-called differential design. Gripping mechanisms can have complex constructions. For example, in robotic movements, the individual lines of freedom can each be realized by means of separate drives (e.g., motorized, pneumatic, hydraulic), separate gears, and / or separate joints. However, such a differential design generally involves a large number of damage-prone individual components, increased space requirements, and a greater number of moving and stationary masses. Furthermore, conventional gripping mechanisms can exhibit a higher potential for vibration and noise generation, as well as comparatively high wear and tear, and are therefore costly.Furthermore, additional encapsulation may be necessary when using the movement mechanisms in liquids to protect the individual assemblies, which can also present design challenges.

[0004] According to various embodiments, a movement mechanism, in particular a gripping mechanism, is provided which has a simple and therefore less prone to failure and more cost-effective design, e.g., a lightweight construction. At the same time, the movement mechanism can be designed in such a way as to achieve an increase in the kinematic range of functions.

[0005] According to various embodiments, the movement mechanism described herein can be based on an integral design. These embodiments involve customized shape memory alloys, which can be integrated into a textile reinforcement structure using textile techniques such as weaving, knitting, and / or braiding. For example, the shape memory alloys can be integrated into a textile reinforcement structure based on high-performance fibers in the form of a core-sheath structure or a coated structure, wherein the shape memory alloy can be arranged parallel to the warp or weft direction or at any angle to the fiber direction of the textile reinforcement structure.

[0006] According to various embodiments, an actuator based on a shape memory alloy can be provided or be provided, which realizes at least one movement in the motion mechanism described herein. For example, an actuator element (e.g., a wire or other structure) can have or consist of a shape memory alloy, wherein the shape memory alloy of the actuator element can be thermally activated, causing the actuator element (e.g., the wire) to contract. Thus, for example, a gripping operation (e.g., opening and / or closing) and / or a rotational / translational movement can be realized by means of targeted thermally induced activation of the shape memory alloy of an actuator element without the use of drives, gears, etc. Several actuator elements can form an actuator network in a component (e.g., in a gripper) to realize complex movements.Furthermore, by arranging one or more actuator elements within a textile reinforcement structure, encapsulation to protect the one or more actuator elements when used in a liquid can be dispensed with.

[0007] According to various embodiments, a gripper (in other words, a gripping mechanism) can have the following: a gripping element which is at least partially spring-elastically deformable such that the gripping element can be brought into at least a first gripping position and a second gripping position; an actuator element which has or consists of a shape memory alloy; wherein the gripping element and the actuator element are arranged such that the gripping element is in the first gripping position when the actuator element is in a first actuator state, and that the gripping element is in the second gripping position when the actuator element is in a second actuator state, wherein the first gripping position and the second gripping position define a gripping area for gripping an object.

[0008] According to various embodiments, a gripper arrangement can comprise the following: a gripper, a gripping arm coupled to the gripper for moving the gripper at least into a first position and a second position, wherein the gripping arm is at least partially spring-elastically deformable such that the gripping arm can be brought into at least a first gripping arm position and a second gripping arm position; a further actuator element comprising or consisting of a shape memory alloy; wherein the gripping arm and the further actuator element are configured such that, when the further actuator element is in a first actuator state, the gripping arm is in the first gripping arm position, and that, when the further actuator element is in a second actuator state, the gripping arm is in the second gripping arm position, wherein the first gripping arm position and the second gripping arm position define a range of motion (e.g., a pivoting range) for moving (e.g.,Swiveling) of the gripper.

[0009] According to various embodiments, a gripping hand (e.g., a robot hand, a prosthesis, etc.) can have the following: several gripping structures, each of which has: a gripping element which is at least partially spring-elastically deformable such that the gripping element can be brought into at least a first gripping position and a second gripping position; an actuator element which has or consists of a shape memory alloy; wherein the gripping element and the actuator element are configured such that the gripping element is in the first gripping position when the actuator element is in a first actuator state, and that the gripping element is in the second gripping position when the actuator element is in a second actuator state, wherein the first gripping position and the second gripping position define a gripping area for grasping an object.

[0010] According to various embodiments, a gripping hand arrangement can comprise the following: a gripping hand, a gripping arm coupled to the gripping hand for moving the gripping hand at least into a first position and a second position, wherein the gripping arm is at least partially spring-elastically deformable such that the gripping arm can be brought into at least a first gripping arm position and a second gripping arm position; a further actuator element comprising or consisting of a shape memory alloy; wherein the gripping arm and the further actuator element are configured such that the gripping arm is in the first gripping arm position when the further actuator element is in a first actuator state, and that the gripping arm is in the second gripping arm position when the further actuator element is in a second actuator state, wherein the first gripping arm position and the second gripping arm position define a range of motion (e.g., a pivoting range) for moving (e.g.,(Swinging) of the grasping hand.

[0011] Examples of implementation are shown in the figures and are explained in more detail below.

[0012] They show Fig. 1A to Fig. 1H each a gripper in a schematic view, according to different embodiments; Fig. 2A and Fig. 2B each a gripper arrangement in a schematic view, according to different embodiments; Fig. 3 a gripper arrangement in a schematic view, according to different embodiments; Fig. 4A and Fig. 4B each a gripper arrangement in a schematic view, according to different embodiments; Fig. 5. A grasping hand in a schematic view, according to various embodiments; and Fig. 6 A grasping hand arrangement in a schematic view, according to various embodiments.

[0013] The following detailed description refers to the accompanying drawings, which form part of the description and illustrate specific embodiments in which the invention can be implemented. It is understood that other embodiments may be used and structural or logical modifications may be made without deviating from the scope of protection of the present invention. It is understood that the features of the various exemplary embodiments described herein may be combined with one another, unless specifically stated otherwise. The following description is therefore not to be interpreted restrictively, and the scope of protection of the present invention is defined by the attached claims.

[0014] Fiber-reinforced plastics (FRPs) can be used in various devices, offering lightweight potential and advantageous mechanical properties compared to traditionally used metal components. For example, integrally manufactured adaptive FRP components can be efficiently produced by structurally integrating components made of a shape memory alloy (SMA) into a fiber-reinforced plastic.

[0015] According to various embodiments, a gripper is provided, wherein a gripping element can be efficiently moved into a first gripping position and a second gripping position by means of an actuator element. The gripper can be designed as an adaptive fiber-reinforced composite (FRC) component. Furthermore, according to various embodiments, a gripping hand is provided, wherein several gripping structures of the gripping hand can be designed in the same or a similar manner as the gripper described herein.

[0016] Fig. 1A to Fig. Figure 1H each shows a schematic view of a gripper. 100 , according to various embodiments.

[0017] The grabber 100 For example, a gripping element can 102 exhibit the gripping element 102 can be spring-elastically deformable, at least in sections. As in the Fig. 1A to Fig. As 1C is shown as an example, the gripping element 102be deformable in sections with spring elasticity, such that the gripping element 102 within reach 106 in different grip positions 102a , 102b can be brought. For example, the gripping element 102 from an initial grasping position 102a into a second gripping position 102b within reach 106 can be moved (e.g., swiveled) and vice versa. At least one section can be moved in the process. 102-1 of the gripping element 102 not deform, i.e., remain in a predefined shape.

[0018] According to various embodiments, the gripper can 100 an actuator element 104 exhibit. The actuator element 104 can be at least partially removed from the gripping element 102 be surrounded, e.g., embedded in a material of the gripping element. For example, the actuator element 104 on a spring-elastic deformable section102-2 of the gripping element 102 or within a spring-elastic deformable section 102-2 of the gripping element 102 be arranged. The actuator element 104 It may have or consist of a shape memory alloy; for example, the actuator element may 104 The actuator element may have or consist of a wire made of a shape memory alloy. 104 be set up in such a way that it enters a first actuator state accordingly 104a and into a second actuator state 104b can be brought.

[0019] According to various embodiments, the gripping element can 102 In a further embodiment, it may be arranged in such a way that it can be spring-elastically deformable along its entire length L, as described in the Fig. 1D and Fig. 1E is shown as an example. In this embodiment of the gripping element 102 can the actuator element104 be arranged in such a way that it is located essentially along the entire length L within the gripping element 102 extends. For example, the length of the actuator element can 104 more than 80% of the length L of the gripping element 102 are equivalent to.

[0020] According to various embodiments, the gripping element 102 and the actuator element 104 be set up in such a way that the gripping element 102 , if the actuator element 104 in the first actuator state 104a is, in the first grasping position 102a is, as it is for example in Fig. 1B and Fig. It is represented in 1D, and that the gripping element 102 , if the actuator element 104 in the second actuator state 104b is, in the second gripping position 102b is, as it is for example in Fig. 1C and Fig. 1E is shown. The first gripping position 102aand the second gripping position 102b can the reach area 106 for grasping an object to be grasped 101 defined.

[0021] According to various embodiments, the gripper can 100 furthermore, another gripping element (for example, illustrated by the element 111 in Fig. 1A) exhibit, for example, the ability to grasp an object to be grasped 101 to enable this. For example, the additional gripping element 111 be arranged in such a way that the object to be grasped 101 between the further gripping element 111 and the gripping element 102 can be arranged or can be arranged when the gripping element 102 in the first gripping position 102a is. If the gripping element 102 in the second grip position 102b or in a gripping position between the first gripping position 102a and the second gripping position 102bThis can involve physical contact between the other gripping element. 111 and the object to be grasped 101 and between the gripping element 102 and the object to be grasped 101 It must be manufactured. Instead of the additional gripping element. 111 This can also be any type of retaining element (for example, illustrated by the element). 111 in Fig. 1A) can be used, which is a counterpart to the gripping element 102 educates.

[0022] According to various embodiments, this can be used for the gripper 100 or another mechanism (e.g. a gripping structure, a gripping arm, etc.) used actuator element 104 It can be designed as a one-way actuator element. For example, the shape memory alloy of the actuator element can be 104be provided in such a way that, due to a phase transformation, e.g., when the shape memory alloy is exposed to a temperature, T, above the phase transformation temperature, T U When heated, a change in length, ΔL, (e.g. a contraction) of the actuator element occurs. 104 is generated. In the opposite phase transition, e.g., when the shape memory alloy is heated to a temperature, T, below the phase transition temperature, T U When cooled, for example, no change in length occurs (also known as the intrinsic one-way actuator effect). However, the actuator element can then be stretched by an external force, e.g., back to its original length. L1 be brought.

[0023] The grabber 100 It can, for example, be designed in such a way that the change in length ΔL of the actuator element 104 a bending (or generally a deformation) of the gripping element 102generated, so that the gripper can be clearly seen 100 It can bend. A force can be visualized by the actuator element. 104 on the gripping element 102 be transferred when the length L1 of the actuator element 104 changes, e.g. to a length L2 reduced.

[0024] According to various embodiments, the gripping element can 102 of the grabber 100 be designed in such a way that the actuator element 104 back to its initial length L1 is brought to a temperature, T, below the phase transition temperature, T1 when the shape memory alloy is brought to a temperature, T2. U , is cooled. A restoring force is clearly demonstrated by the gripping element. 102 on the actuator element 104 transferred so that the actuator element 104 with respect to the change in length, ΔL, it can be operated reversibly (also called an extrinsic two-way actuator).

[0025] According to various embodiments, if the actuator element 104 in the first actuator state 104a is the shape memory alloy of the actuator element 104 a temperature, T, below whose phase transition temperature, T U , exhibit, as in Fig. 1F is illustrated, and can be used if the actuator element 104 in the second actuator state 104b is the shape memory alloy of the actuator element 104 a temperature, T, above whose phase transition temperature, T U , exhibit, as in Fig. 1G is illustrated.

[0026] Based on the gripper design described herein 100 can be done using the gripper 100 comparatively large forces are generated, e.g. more than 10 N, more than 20 N or more than 40 N.

[0027] According to various embodiments, the gripping element can 102 a fiber composite material108 , 110 exhibit or be formed from the gripping element 102 It can, for example, be made from a textile-engineered fiber material (e.g., a fabric made of glass fiber, ceramic fiber, carbon fiber, etc.). The gripping element 102 It can also be formed, for example, from a plastic (e.g., a polymer matrix material) in which a textile-manufactured fiber material (e.g., a fabric made of ceramic fibers, carbon fibers, etc.) is embedded. The actuator element 104 preferably in the fiber composite material 108 , 110 be embedded.

[0028] According to various embodiments, the actuator element can 104 in at least two fixation areas 112a , 112b with fibers 108 of the fiber composite material 108 , 110 of the gripping element 102be connected, e.g. by means of a textile-technical connection or incorporation, as is the case in Fig. 1H illustrates this. A textile-technical connection or incorporation can be achieved, for example, by weaving, interlacing, knitting, etc., of the actuator element designed as a wire. 104 with the fibers 108 of the fiber composite material 108 , 110 are produced. The fibers 108 of the fiber composite material 108 , 110 can, for example, be incorporated into a matrix material 110 be embedded, e.g., in a polymer matrix material (e.g., in epoxy resin, in polyethylene, or in another suitable polymer matrix material). The fibers 108 These could be, for example, glass fibers, carbon fibers, or other suitable fibers. The fibers 108 of the fiber composite material 108 , 110These can be comparatively long fibers (e.g., the individual fibers can have a length of more than 5 cm, e.g., more than 10 cm), which are bonded together, for example, using textile technology. A textile bonding of the fibers 108 Together, for example, they can be created by weaving, interlacing, entangling, etc.

[0029] According to various embodiments, in an area 112z between the at least two fixation areas 112a , 112b a sliding layer 114 between the actuator element 104 and the fiber composite material 108 , 110 be provided for decoupling the actuator element 104 from the fiber composite material 108 , 110 . According to various embodiments, an actuator element designed as a wire can be 104 only in sections with the fiber composite material 108 , 110be connected, which is the gripping element 102 forms the sliding layer 114 Can a displacement of the actuator element occur? 104 relative to which the actuator element 104 surrounding fiber composite material 108 , 110 in that area 112z between the fixing areas 112a , 112b This enables, for example, comparatively large forces (e.g., tensile forces of more than 10 N) to be applied by the actuator element. 104 on the gripping element 102 to be able to transfer without the gripping element 102 to damage and / or without the connection between the actuator element 104 and the gripping element 102 is destroyed.

[0030] According to various embodiments, the sliding layer can 114The sliding layer consists of or is composed of short fibers (e.g., fibers less than 1 mm in length), particles (e.g., graphite particles), or another suitable material with sliding properties. 114 For example, the actuator element 104 in that area 112z between the two fixing areas 112a , 112b completely surrounds. Furthermore, the matrix material can 110 , into which, for example, the fibers 108 are embedded in the sliding layer 114 completely surrounded 114 in the matrix material 110 form a channel through which a shape memory alloy wire extends as an actuator element.

[0031] According to various embodiments, in a further embodiment the gripper 100The bending actuator may be coupled to a gripping element. The bending actuator may be at least partially spring-elastic deformable such that it can be brought into at least a first bending state and a second bending state. According to various embodiments, the bending actuator may have an actuator element that comprises or consists of a shape memory alloy. The actuator element may be configured to be brought into a first actuator state and a second actuator state. According to various embodiments, the bending actuator may be in the first bending state when the actuator element is in the first actuator state, and the bending actuator may be in the second bending state when the actuator element is in the second actuator state. This is due to the coupling of the bending actuator with the gripping element. 102 can therefore the gripping element 102, when the bending actuator is in the first bending state, in a first gripping position 102a be, and can the gripping element 102 , when the bending actuator is in the second bending state, in a second gripping position 102b be, whereby the first grasping position 102a and the second gripping position 102b a reach area 106 define for grasping an object.

[0032] Fig. 2A and Fig. Figures 2B each show a schematic view of a gripper arrangement. 200 according to various embodiments. The gripper arrangement 200 can a first gripping element 202-1 and a second gripping element 202-2 exhibit the first gripping element 202-1 and the second gripping element 202-2 can be designed in the same or a similar way as the gripping element described herein 102 of the grabber 100 .

[0033] The first gripping element 202-1It can, for example, be set up in such a way that it runs along a first direction 201 from one of the first gripping elements 202-1 assigned first gripping position 102a into a second gripping position 102b can be moved (e.g., swiveled). Furthermore, the second gripping element can 202-2 be set up in such a way that it runs along a second direction 203 from one of the second gripping elements 202-2 assigned first gripping position 102a into a second gripping position 102b can be moved (e.g. swiveled), as is the case, for example, in Fig. 2A is shown. The first direction 201 can thereby the second direction 203 be opposite. 202-1 actively by means of a corresponding actuator element 104 swivel counterclockwise and the second gripping element 202-2 can be actively controlled by means of a corresponding actuator element104 swivel clockwise.

[0034] Thus, for example, an object to be grasped can 101 by means of the first gripping element 202-1 and the second gripping element 202-2 the gripper arrangement 200 to be grasped. For example, the object to be grasped can 101 between the first gripping element 202-1 and the second gripping element 202-2 be positioned when the first gripping element 202-1 and / or the second gripping element 202-2 in the first gripping position 102a are located. When the first gripping element 202-1 and / or the second gripping element 202-2 into the second grip position 102b Physical contact between the first gripping element can be brought about. 202-1 and the object to be grasped 101 and between the second gripping element 202-2 and the object to be grasped 101be manufactured, as is the case, for example, in Fig. 2B is shown.

[0035] Fig. Figure 3 shows a schematic view of a gripper arrangement 300 , according to various embodiments. The gripper arrangement 300 It may, for example, have a gripper. The gripper of the gripper arrangement 300 may be designed in the same or a similar manner as the gripper described herein 100 Furthermore, the gripper arrangement 300 a control device 316 exhibit the control device 316 It may be set up to use the gripper 100 the gripper arrangement 300 to control, e.g. at least one actuator element 104 of the grabber 100 to activate and / or deactivate.

[0036] The control device 316 It can, for example, be set up in such a way that it uses the gripping element. 102 of the grabber 100from the first gripping position 102a into the second grip position 102b brings about by heating the actuator element 104 of the grabber 100 (also referred to as activating the actuator element). The control device 316 It may, for example, have an electrical power supply to power the actuator element. 104 of the grabber 100 with electrical power. The actuator element 104 of the grabber 100 It can, for example, be formed in the form of a wire made of a shape-memory alloy. By means of the control device 316 An electric current can be generated through the wire, causing the wire and thus the shape memory alloy to reach a temperature, T, above the phase transition temperature, T. U, which can heat up the shape memory alloy. If no or only a small current flows through the wire, the wire can cool down to a temperature, T, below the phase transition temperature, T0. U , the shape memory alloy (also referred to as deactivating the actuator element). According to various embodiments, the wire can be in the gripping element in the form of a loop. 102 of the grabber 100 be provided, with the two opposing end sections of the wire on the same side of the gripping element. 102 of the grabber 100 are arranged.

[0037] It goes without saying that the actuator element 104 of the grabber 100 by means of a corresponding thermally applied actuator element 104 can be heated by a coupled heat source.

[0038] Fig. 4A and Fig. Figures 4B each show a schematic view of a gripper arrangement. 400, according to various embodiments.

[0039] According to various embodiments, the gripper arrangement can 400 have at least one gripper. The at least one gripper may be of the same or a similar design as the gripper described herein. 100 be designed.

[0040] According to various embodiments, the gripper arrangement can 400 furthermore, a gripping arm 402 exhibit. The gripping arm 402 can be used with the gripper 100 be coupled and set up, the grabber 100 at least into a first position 102c and into a second position 102d to move. The position of the gripper is important. 100 accordingly by the position of the gripper arm 402 defined. According to various embodiments, the gripper arm can 402 at least partially be spring-elastically deformable in such a way that the gripping arm 402at least into a first gripper arm position 402a and a second gripper arm position 402b can be brought, for example, the gripper arm 402 from the first gripper arm position 402a into the second gripper arm position 402b They can be moved and vice versa. The movement of the gripper arm can be visualized as follows: 402 in the same or a similar manner as that of the gripping element described herein 102 of the grabber 100 e.g. the gripper arm 402 by means of a suitably designed actuator element 404 at least partially deformed and / or moved.

[0041] As in Fig. 4A and Fig. As illustrated in 4B, the gripper arrangement can be 400 in addition to the actuator element 104 of the grabber 100 at least one more actuator element 404exhibiting a shape memory alloy or which may consist of one. The further actuator element 404 the gripper arrangement 400 It may be designed in the same or a similar way as the actuator element described herein. 104 of the grabber 100 The geometric design of the gripper arm 402 and the geometric design of the gripping element 102 can be done in such a way that a gripper arrangement 400 can be provided in a desired configuration.

[0042] According to various embodiments, the gripper arm can 402 and the further actuator element 404 be set up in such a way that the gripper arm 402 , if the further actuator element 404 in a first actuator state 404a is, in the first gripper arm position 402a is, and that the gripper arm 402 , if the further actuator element 404in a second actuator state 404b is, in the second gripper arm position 402b is, whereby the first gripper arm position 402a and the second gripper arm position 402b a movement area 406 (e.g., define a swivel range) for moving (e.g., swiveling) the gripper 100 .

[0043] According to various embodiments, the gripper arrangement can 400 a control device 416 to control the gripper arrangement 400 exhibit, as in Fig. 4B illustrates the control device. 416 can be set up in such a way that it controls the actuator element 104 of the grabber 100 and / or the other actuator element 404 the gripper arrangement 400 can be controlled. For example, the control device 416 be set up in such a way that they can be activated by heating the actuator element 104 of the grabber 100 the gripping element102 of the grabber 100 from the first gripping position 102a into the second grip position 102b can bring and / or that the control device 416 by heating the further actuator element 404 the gripper arrangement 400 the gripper arm 402 the gripper arrangement 400 from the first gripper arm position 402a into the second gripper arm position 402b can bring.

[0044] The control device 416 It may, for example, have an electrical power supply to power the actuator element. 104 of the grabber 100 and to supply the other actuator element 404 the gripper arrangement 400 with electrical power. The actuator element 104 of the grabber 100 and the further actuator element 404 the gripper arrangement 400They can, for example, be formed in the form of a wire made of a shape-memory alloy. By means of the control device 416 Can an electric current flow through the wire of the actuator element? 104 of the grabber 100 and / or through the wire of the other actuator element 404 the gripper arrangement 400 through which the wire of the actuator element is generated. 104 of the grabber 100 and / or the wire of the other actuator element 404 the gripper arrangement 400 and thus the respective shape memory alloy at a temperature, T, above the phase transition temperature, T U , which can heat up the shape memory alloy. If there is no or only a small current through the wire of the actuator element. 104 of the grabber 100 and / or through the wire of the other actuator element 404 the gripper arrangement 400 When the wire of the actuator element flows, it can... 104of the grabber 100 and / or the wire of the other actuator element 404 the gripper arrangement 400 cool to a temperature, T, below the phase transition temperature, T U , the respective shape memory alloy.

[0045] It goes without saying that the actuator element 104 of the grabber 100 and the further actuator element 404 the gripper arrangement 400 by means of a thermally appropriate connection to the respective actuator element 104 , 404 can be heated by a coupled heat source.

[0046] According to various embodiments, the wire of the actuator element can 104 of the grabber 100 and the wire of the other actuator element 404 the gripper arrangement 400 each in the form of a loop in the gripping element 102 of the grabber 100 and in the gripper arm 402 the gripper arrangement 400be provided, with the two opposing end sections of the wire in the gripping element 102 of the grabber 100 and in the gripper arm 402 the gripper arrangement 400 on the same side of the gripping element 102 and on the same side of the gripper arm 402 are arranged.

[0047] A range of motion of the gripper arrangement 400 This allows a distinction between the movement area 406 of the gripper arm 402 and the reach area 106 of the gripping element 102 lie, as it is in Fig. Figure 4A illustrates this by way of example. The maximum movement (e.g., swiveling), for example for an object to be grasped, can be determined from the second gripper arm position. 402b and the second gripping position 102b result.

[0048] Fig. Figure 5 shows a schematic view of a grasping hand. 500 , according to various embodiments.

[0049] According to various designs, the grasping hand can 500 multiple gripping structures 502 exhibit. For example, the grasping hand 500 five gripping structures 502 exhibit, as exemplified in Fig. Figure 5 illustrates this. It is understood that the grasping hand 500 also fewer than five gripping structures 502 e.g. two, three or four gripping structures 502 , or more than five gripping structures 502 e.g. six, eight or more than eight grasping structures 502 may have. According to various embodiments, at least one gripping structure of the several gripping structures can be 502 opposes to at least one other gripping structure of the multiple gripping structures 502 be arranged 500 be shaped like a human hand, with which a pincer grip can be achieved.

[0050] Each of the multiple gripping structures 502 may be designed in the same or a similar manner as the gripper described herein 100 The geometric design of the individual gripping structures 502 can differ from the geometric design of the gripper 100 distinguish and / or the geometric designs of the individual gripping structures 502 can differ from each other, so that a grasping hand 500 can be provided in a desired configuration.

[0051] According to various embodiments, each of the several gripping structures can 502 a gripping element 504 exhibit each gripping element 504 can be at least partially spring-elastically deformable in such a way that the gripping element 504 It can be brought into at least a first gripping position and a second gripping position. According to various embodiments, each gripping element can504 the multiple gripping structures 502 be designed in the same or a similar manner as the gripping element described herein 102 of the grabber 100 .

[0052] According to various embodiments, each of the several gripping structures can 502 an actuator element 506 exhibiting a shape memory alloy or consisting thereof, wherein the actuator element 506 may be designed in the same or a similar way as the actuator element described herein 104 of the grabber 100 .

[0053] According to various embodiments, the gripping element can 504 and the actuator element 506 be set up in such a way that the gripping element 504 , if the actuator element 506 is in a first actuator state, is in the first gripping position, and that the gripping element 504 , if the actuator element 506is in a second actuator state, is in the second gripping position, where the first gripping position and the second gripping position define a gripping area for grasping an object.

[0054] Fig. Figure 6 shows a schematic view of a grasping hand arrangement. 600 , according to various embodiments.

[0055] According to various embodiments, the gripping hand arrangement can 600 have a grasping hand. The grasping hand can be designed in the same or a similar way to the grasping hand described herein. 500 .

[0056] Furthermore, the gripping hand arrangement 600 according to various embodiments, a control device 616 exhibit the control device 616 can be used, for example, to control the grasping hand 500 can be used. For example, the control device 616 be set up in such a way that they include the corresponding actuator element506 the respective gripping structure 502 the grasping hand 500 heated around the gripping element 504 the respective gripping structure 502 the grasping hand 500 to move from the first gripping position to the second gripping position.

[0057] According to various embodiments, the control device 616 be designed in such a way that each gripping structure 502 the grasping hand 500 It can be individually controlled, so that each of the gripping structures 502 can be moved individually (e.g. swiveled) and multiple or all gripping structures 502 the grasping hand 500 can be moved together. The control device 616 can be set up in such a way that it uses the corresponding actuator element 506 the respective gripping structure 502 the grasping hand 500 can be controlled separately.

[0058] For example, the control device 616be set up in such a way that they are activated by heating the corresponding actuator element 506 the respective gripping structure 502 the grasping hand 500 the corresponding gripping element 504 the respective gripping structure 502 the grasping hand 500 can move from the first gripping position to the second gripping position. The control device 616 It may, for example, have an electrical power supply to power the corresponding actuator element. 506 the respective gripping structure 502 the grasping hand 500 with electrical power. The corresponding actuator element. 506 the respective gripping structure 502 the grasping hand 500 It can, for example, be formed in the form of a wire made of a shape-memory alloy. By means of the control device 616 Can a current flow through the wire of the corresponding actuator element? 506 the respective gripping structure 504the grasping hand 500 through which the wire of the corresponding actuator element is generated. 506 the respective gripping structure 504 the grasping hand 500 and thus the respective shape memory alloy at a temperature, T, above the phase transition temperature, T U , which can heat the shape memory alloy. If no or only a small current flows through the wire of the corresponding actuator element. 506 the respective gripping structure 504 the grasping hand 500 As the wire flows, the wire of the corresponding actuator element can 506 the respective gripping structure 502 the grasping hand 500 cool to a temperature, T, below the phase transition temperature, T U , the respective shape memory alloy.

[0059] It goes without saying that the corresponding actuator element 506 the respective gripping structure 502 the grasping hand 500by means of a thermally appropriate connection to the respective actuator element 506 the respective gripping structure 502 the grasping hand 500 can be heated by a coupled heat source.

[0060] According to various embodiments, the wire of the corresponding actuator element can 506 the respective gripping structure 502 the grasping hand 500 in the form of a loop in the corresponding gripping element 504 the respective gripping structure 502 the grasping hand 500 be provided, with the two opposing end sections of the wire in the corresponding gripping element. 504 the respective gripping structure 502 the grasping hand 500 on the same side of the corresponding gripping element 504 the respective gripping structure 502 the grasping hand 500 are arranged.

[0061] According to various embodiments, a gripping hand arrangement (not shown, but see for comparison) can be used. Fig. 4A and Fig. 4B, which correspond to the basic structure) have a grasping hand. The grasping hand can be designed in the same or a similar way to the grasping hand described herein. 500 Furthermore, according to various embodiments, the gripping hand arrangement can have a gripping arm which is connected to the gripping hand. 500 It can be coupled to move the grasping hand. 500 at least in a first position and a second position.

[0062] According to various embodiments, the gripping arm of the gripping hand arrangement can be at least partially spring-elastically deformable such that it can be brought into at least a first gripping arm position and a second gripping arm position by means of an actuator element. The gripping arm of the gripping hand arrangement and the associated actuator element can be designed in the same or a similar manner to the gripping arm described herein. 402 the gripper arrangement 400 and what is described herein with the gripping arm 402 coupled actuator element 404 (as another actuator element) 404 designated).

[0063] According to various embodiments, the gripping hand arrangement can include a control device for controlling the gripping hand arrangement. The control device can be configured to control the corresponding actuator element. 506 the respective gripping structure 502 the grasping hand 500to heat up in order to bring the corresponding gripping element 504 the respective gripping structure 502 the grasping hand 500 from the first gripping position to the second gripping position. Visually, the control device can be designed such that each gripping structure 502 the grasping hand 500 Individually controllable is analogous to the control device 616 Furthermore, the control device can be set up, the additional actuator element 404 of the gripper arm 402 to warm up in order to bring the gripper arm 402 from the first gripper arm position 402a into the second gripper arm position 402b . The control device can be designed in such a way that both the individual gripping structures 502 the grasping hand 500 are individually controllable and that the gripper arm also 402 The gripping hand arrangement can be controlled analogously to the control device 416 .

[0064] According to various embodiments, a method for grasping an object by means of a gripper can comprise the following: Bringing an actuator element of the gripper from a first actuator state to a second actuator state by heating a shape memory alloy of the actuator element to a temperature, T, above the phase transition temperature, T0. U , and thus move a gripping element of the gripper from a first gripping position to a second gripping position.

[0065] According to various embodiments, a method for releasing an object can comprise the following: bringing a gripping element of the gripper from a second gripping position to a first gripping position by cooling a shape memory alloy of the actuator element to a temperature, T, below the phase transition temperature, T U , and thus bring the actuator element from the second actuator state to the first actuator state.

[0066] The following are various examples that relate to what is described herein and depicted in the figures.

[0067] Example 1 is a gripper 100 , featuring: a gripping element 102 , which is at least partially spring-elastic deformable in such a way that the gripping element 102 at least into a first grasping position 102a and a second gripping position 102b can be brought; an actuator element 104 , which has or consists of a shape memory alloy; wherein the gripping element 102 and the actuator element 104 are set up in such a way that the gripping element 102 , if the actuator element 104 in a first actuator state 104a is, in the first grasping position 102a is, and that the gripping element 102 , if the actuator element 104 in a second actuator state 104bis, in the second gripping position 102b is, whereby the first gripping position 102a and the second gripping position 102b a reach area 106 define for grasping an object to be grasped 101 .

[0068] Example 2 is a gripper 100 , featuring: a gripping element 102 , which at least puts you in a first grasping position 102a and a second gripping position 102b can be brought; an actuator element 104 , which has or consists of a shape memory alloy; wherein the gripping element 102 and the actuator element 104 are set up in such a way that the gripping element 102 , if the actuator element 104 in a first actuator state 104a is, in the first grasping position 102a is, and that the gripping element 102 , if the actuator element 104 in a second actuator state 104b is, in the second gripping position102b is, whereby the first gripping position 102a and the second gripping position 102b a reach area 106 define for grasping an object to be grasped 101 In one embodiment, the gripping element can 102 at least partially be spring-elastically deformable in such a way that the gripping element 102 at least into the first grasping position 102a and the second gripping position 102b can be brought.

[0069] According to various embodiments, the gripping element can 102 be deformable in such a section-by-section spring-elastic manner that a restoring force is generated which grips the gripping element 102 from the second grip position 102b into the first gripping position 102a brings.

[0070] In example 3, the gripper can 100 furthermore, according to example 1 or 2, the actuator element must have the following characteristics: 104 is designed as a one-way actuator element.

[0071] In example 4, the gripper can 100 according to one of examples 1 to 3, furthermore exhibit that, if the actuator element 104 in the first actuator state 104a is the shape memory alloy of the actuator element 104 a temperature T below its phase transition temperature T U exhibits, and that, if the actuator element 104 in the second actuator state 104b is the shape memory alloy of the actuator element 104 a temperature T above its phase transition temperature T U exhibits.

[0072] In example 5, the gripper can 100 according to one of examples 1 to 4, furthermore exhibit that the gripping element 102 a fiber composite material 108 , 110 exhibits or is formed from, wherein the actuator element 104 preferably in the fiber composite material 108 , 110 is embedded.

[0073] In example 6, the gripper can 100 furthermore, according to Example 5, the actuator element must exhibit that 104 in at least two fixation areas 112a , 112b with fibers 108 of the fiber composite material 108 , 110 is connected, preferably by means of a textile connection, and that in an area 112z between the at least two fixation areas 112a , 112b a sliding layer 114 between the actuator element 104 and the fiber composite material 108 , 110 is provided for decoupling the actuator element. 104 from the fiber composite material 108 , 110 .

[0074] According to various embodiments, a textile connection or incorporation can be produced by felting, braiding, knotting, or other suitable techniques. A textile connection can, for example, be a form-fit connection, such as one formed between elements (e.g., fibers, strip-shaped elements, etc.) of the fiber-reinforced composite material. 108 , 110 and the actuator element 104 .

[0075] Example 7 is a gripper arrangement 300 , having: a gripper 100 according to one of examples 1 to 6, a control device 316 to control the gripper 100 , wherein the control device 316 to bring the gripping element 102 of the grabber 100 from the first gripping position 102a into the second grip position 102b is set up, the actuator element 104 of the grabber 100 to warm up.

[0076] Example 8 is a gripper arrangement 400 , having: a gripper 100 according to one of examples 1 to 6, a gripping arm 402 , which with the grabber 100 It is coupled to move the gripper. 100 at least into a first position 102c and a second position 102d , wherein the gripper arm 402 at least partially spring-elastic deformable in such a way that the gripping arm 402 at least into a first gripper arm position 402a and a second gripper arm position 402b can be brought; another actuator element 404 , which has or consists of a shape memory alloy; wherein the gripper arm 402 and the further actuator element 404 are set up in such a way that the gripper arm 402 , if the further actuator element 404 in a first actuator state 404a is, in the first gripper arm position 402a is, and that the gripper arm402 , if the further actuator element 404 in a second actuator state 404b is, in the second gripper arm position 402b is, whereby the first gripper arm position 402a and the second gripper arm position 402b a movement area 406 (e.g., define a swivel range) for moving (e.g., swiveling) the gripper 100 .

[0077] In example 9, the gripper arrangement can be seen 400 furthermore, according to Example 8, the additional actuator element must show that 404 is designed as a one-way actuator element.

[0078] In example 10, the gripper arrangement can be seen 400 furthermore, according to example 8 or 9, that if the additional actuator element 404 in the first actuator state 404a is the shape memory alloy of the further actuator element 404 a temperature T below its phase transition temperature T U exhibits, and that, if the further actuator element404 in the second actuator state 404b is the shape memory alloy of the further actuator element 404 a temperature T above its phase transition temperature T U exhibits.

[0079] In example 11, the gripper arrangement can be seen 400 according to one of examples 8 to 10, furthermore show that the gripper arm 402 a fiber composite material 108 , 110 exhibits or is formed from, wherein the further actuator element 404 preferably in the fiber composite material 108 , 110 is embedded.

[0080] In example 12, the gripper arrangement can be seen 400 furthermore, according to Example 11, the additional actuator element must show that 404 in at least two fixation areas 112a , 112b , with fibers 108 of the fiber composite material 108 , 110is connected, preferably by means of a textile connection, and that in an area 112z between the at least two fixation areas 112a , 112b a sliding layer 114 between the further actuator element 404 and the fiber composite material 108 , 110 is provided for decoupling the further actuator element. 404 from the fiber composite material 108 , 110 .

[0081] In example 13, the gripper arrangement can be seen 400 as per Example 8, furthermore include: a control device 416 to control the gripper arrangement 400 , wherein the control device 416 to bring the gripping element 102 of the grabber 100 from the first gripping position 102a into the second grip position 102b is set up, the actuator element 104 of the grabber 100 to heat up, and wherein the control device 416to bring the gripper arm 402 from the first gripper arm position 402a into the second gripper arm position 402b is set up, the further actuator element 404 to warm up.

[0082] Example 14 is a grasping hand 500 , exhibiting: several gripping structures 502 , where each of the multiple gripping structures 502 features: a gripping element 504 , which is at least partially spring-elastic deformable in such a way that the gripping element 504 can be brought at least into a first gripping position and a second gripping position; an actuator element 506 , which has or consists of a shape memory alloy; wherein the gripping element 504 and the actuator element 506 are set up in such a way that the gripping element 504 , if the actuator element 506 is in a first actuator state, is in the first gripping position, and that the gripping element 504, if the actuator element 506 is in a second actuator state, is in the second gripping position, where the first gripping position and the second gripping position define a gripping area for grasping an object.

[0083] In example 15, the grasping hand 500 furthermore, according to Example 14, the respective actuator element must exhibit that 506 is designed as a one-way actuator element.

[0084] In example 16, the grasping hand 500 furthermore, according to example 14 or 15, that when the respective actuator element 506 in the first actuator state, the shape memory alloy of the respective actuator element 506 a temperature T below its phase transition temperature T U exhibits, and that, if the respective actuator element 506 in the second actuator state, the shape memory alloy of the further actuator element 506a temperature T above its phase transition temperature T U exhibits.

[0085] In example 17, the grasping hand 500 according to one of examples 14 to 16, furthermore exhibit that the gripping element 504 the respective gripping structure 502 a fiber composite material 108 , 110 exhibits or is formed from, wherein the respective actuator element 506 preferably in the fiber composite material 108 , 110 is embedded.

[0086] In example 18, the grasping hand 500 furthermore, according to Example 17, the respective actuator element must exhibit that 506 in at least two fixation areas 112a , 112b , with fibers 108 of the fiber composite material 108 , 110 is connected, preferably by means of a textile connection, and that in an area 112z between the at least two fixation areas 112a ,112b a sliding layer 114 between the respective actuator element 506 and the fiber composite material 108 , 110 is provided for decoupling the respective actuator element. 506 from the fiber composite material 108 , 110 .

[0087] Example 19 is a grasping hand arrangement 600 , exhibiting: a grasping hand 500 according to one of examples 14 to 18, a control device 616 to control the grasping hand 500 , wherein the control device 616 to bring the gripping element 504 the respective gripping structure 502 the grasping hand 500 is set up from the first gripping position to the second gripping position, the corresponding actuator element 506 to warm up.

[0088] In example 20, the gripping hand arrangement can be seen 600 furthermore, according to Example 19, each gripping structure must exhibit that 502 the grasping hand500 It can be individually controlled, so that each of the gripping structures 502 can be moved individually and multiple or all gripping structures 502 can be moved together.

[0089] Example 21 is a grasping hand arrangement comprising: a grasping hand 500 according to one of examples 13 to 17, a gripping arm 402 , which uses the grasping hand 500 It is coupled to move the grasping hand. 500 at least into a first position and a second position, whereby the gripping arm 402 at least partially spring-elastic deformable in such a way that the gripping arm 402 at least into a first gripper arm position 402a and a second gripper arm position 402b can be brought; another actuator element 404 , which has or consists of a shape memory alloy; wherein the gripper arm 402 and the further actuator element 404are set up in such a way that the gripper arm 402 , if the further actuator element 404 in a first actuator state 404a is, in the first gripper arm position 402a is, and that the gripper arm 402 , if the further actuator element 404 in a second actuator state 404b is, in the second gripper arm position 402b is, whereby the first gripper arm position 402a and the second gripper arm position 402b a movement area 406 (e.g., a swivel range) to move (e.g., swivel) the gripping hand.

[0090] In Example 22, the gripping hand arrangement according to Example 21 can further include the additional actuator element 404 is designed as a one-way actuator element.

[0091] In Example 23, the gripping hand arrangement according to Example 21 or 22 may further have that, when the additional actuator element 404 in the first actuator state 404ais the shape memory alloy of the further actuator element 404 a temperature T below its phase transition temperature T U exhibits, and that, if the further actuator element 404 in the second actuator state 404b is the shape memory alloy of the further actuator element 404 a temperature T above its phase transition temperature T U exhibits.

[0092] In Example 24, the gripping hand arrangement according to one of Examples 21 to 23 may further include the gripping arm 402 a fiber composite material 108 , 110 exhibits or is formed from, wherein the further actuator element 404 preferably in the fiber composite material 108 , 110 is embedded.

[0093] In Example 25, the gripping hand arrangement according to Example 24 can further include the additional actuator element 404 in at least two fixation areas 112a ,112b , with fibers 108 of the fiber composite material 108 , 110 , is connected, preferably by means of a textile connection, and that in an area 112z between the at least two fixation areas 112a , 112b , a sliding layer 114 between the further actuator element 404 and the fiber composite material 108 , 110 is provided for decoupling the further actuator element. 404 from the fiber composite material 108 , 110 .

[0094] In Example 26, the gripping hand arrangement according to Example 21 may further include: a control device for controlling the gripping hand arrangement, wherein the control device is for bringing the gripping element 504 the respective gripping structure 502 the grasping hand 500 is set up from the first gripping position to the second gripping position, the corresponding actuator element 506to heat up, and wherein the control device is used to bring the gripper arm 402 from the first gripper arm position 402a into the second gripper arm position 402b is set up, the further actuator element 404 to warm up.

Claims

[1] Gripping hand (500), having: several gripping structures (502), each of which has: a gripping element (504) which is at least partially spring-elastic deformable such that the gripping element (504) can be brought into at least a first gripping position and a second gripping position; an actuator element (506) which has or consists of a shape memory alloy; wherein the gripping element (504) and the actuator element (506) are arranged such that the gripping element (504) is in the first gripping position when the actuator element (506) is in a first actuator state, and that the gripping element (504) is in the second gripping position when the actuator element (506) is in a second actuator state, wherein the first gripping position and the second gripping position define a gripping area for gripping an object. [2] The gripping hand (500) according to claim 1, wherein the respective actuator element (506) is designed as a one-way actuator element. [3] The gripping hand (500) according to claim 1 or 2, wherein, when the respective actuator element (506) is in the first actuator state, the shape memory alloy of the respective actuator element (506) maintains a temperature (T) below its phase transition temperature (T U ) exhibits, and wherein, when the respective actuator element (506) is in the second actuator state, the shape memory alloy of the further actuator element (506) has a temperature (T) above its phase transition temperature (T U ) exhibits. [4] The gripping hand (500) according to one of claims 1 to 3, wherein the gripping element (504) of the respective gripping structure (502) comprises or is formed from a fiber composite material (108, 110), wherein the respective actuator element (506) is preferably embedded in the fiber composite material (108, 110). [5] The gripping hand (500) according to claim 4, wherein the respective actuator element (506) is connected to fibers (108) of the fiber composite material (108, 110) in at least two fixing areas (112a, 112b), preferably by means of a textile connection, and wherein a sliding layer (114) is provided in an area (112z) between the at least two fixing areas (112a, 112b) between the respective actuator element (506) and the fiber composite material (108, 110) for decoupling the respective actuator element (506) from the fiber composite material (108, 110). [6] Gripping hand arrangement (600), comprising: a gripping hand (500) according to one of claims 1 to 5, a control device (616) for controlling the gripping hand (500), wherein the control device (616) is configured to move the gripping element (504) of the respective gripping structure (502) of the gripping hand (500) from the first gripping position to the second gripping position, and to heat the corresponding actuator element (506). [7] The gripping hand arrangement (600) according to claim 6, wherein the gripping hand (500) and the control device (616) are arranged such that each gripping structure (502) of the gripping hand (500) can be controlled individually, so that each of the gripping structures (502) can be moved individually. [8] Gripping hand arrangement comprising: a gripping hand (500) according to one of claims 1 to 5, a gripping arm (402) which is coupled to the gripping hand (500) for moving the gripping hand (500) at least into a first position and a second position, wherein the gripping arm (402) is at least partially spring-elastic deformable such that the gripping arm (402) can be brought into at least a first gripping arm position (402a) and a second gripping arm position (402b); another actuator element (404) which has or consists of a shape memory alloy; wherein the gripping arm (402) and the further actuator element (404) are arranged such that the gripping arm (402) is in the first gripping arm position (402a) when the further actuator element (404) is in a first actuator state (404a), and that the gripping arm (402) is in the second gripping arm position (402b) when the further actuator element (404) is in a second actuator state (404b), wherein the first gripping arm position (402a) and the second gripping arm position (402b) define a movement range (406) for moving the gripping hand (500). [9] The gripping hand arrangement according to claim 8, wherein the further actuator element (404) is designed as a one-way actuator element. [10] The gripping hand arrangement according to claim 8 or 9, wherein the gripping arm (402) comprises or is formed from a fiber composite material (108, 110), wherein the further actuator element (404) is preferably embedded in the fiber composite material (108, 110). [11] The gripping hand arrangement according to claim 10, wherein the further actuator element (404) is connected to fibers (108) of the fiber composite material (108, 110) in at least two fixing areas (112a, 112b), preferably by means of a textile connection, and wherein a sliding layer (114) is provided in an area (112z) between the at least two fixing areas (112a, 112b) between the further actuator element (404) and the fiber composite material (108, 110) for decoupling the further actuator element (404) from the fiber composite material (108, 110). [12] Gripper (100), comprising: a gripping element (102) which can be brought into at least a first gripping position (102a) and a second gripping position (102b); an actuator element (104) which has or consists of a shape memory alloy; wherein the gripping element (102) and the actuator element (104) are arranged such that the gripping element (102) is in the first gripping position (102a) when the actuator element (104) is in a first actuator state (104a), and that the gripping element (102) is in the second gripping position (102b) when the actuator element (104) is in a second actuator state (104b), wherein the first gripping position (102a) and the second gripping position (102b) define a gripping area (106) for gripping an object. [13] The gripper (100) according to claim 12, wherein the actuator element (104) is designed as a one-way actuator element and wherein the gripping element (102) is at least partially spring-elastic deformable to bring the gripping element (102) at least into the first gripping position (102a) and the second gripping position (102b). [14] Gripper arrangement (400), comprising: a gripper (100) according to claim 12 or 13, a gripping arm (402) which is coupled to the gripper (100) for moving the gripper (100) at least into a first position (102c) and a second position (102d), wherein the gripping arm (402) can be brought into at least a first gripping arm position (402a) and a second gripping arm position (402b); another actuator element (404) which has or consists of a shape memory alloy; wherein the gripper arm (402) and the further actuator element (404) are arranged such that the gripper arm (402) is in the first gripper arm position (402a) when the further actuator element (404) is in a first actuator state (404a), and that the gripper arm (402) is in the second gripper arm position (402b) when the further actuator element (404) is in a second actuator state (404b), wherein the first gripper arm position (402a) and the second gripper arm position (402b) define a movement range (406) for moving the gripper (100).

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