Gripping device, with a gripping mechanism comprising a plurality of gripping elements (122, 123), wherein the gripping mechanism is configured to grip a workpiece by moving at least one of the gripping elements (122, 123); and a variety of pocket-shaped
actuator systems with: a pocket-shaped
actuator (1A, 1B; 11A-11D) with an airtight pocket element (2A, 2B; 12A-12D) made of a flexible
film material and flowable particles (3A, 3B; 13A-13D) filled into the pocket element (2A, 2B; 12A-12D); a pocket element communication line (4A, 4B; 14A-14D) configured to communicate with an interior of the pocket element (2A, 2B; 12A-12D) of the pocket-shaped
actuator (1A, 1B; 11A-11D); a negative pressure source communication line (5A, 5B; 15A-15D) configured to communicate with a negative pressure source (LP) that has a lower air pressure than the
ambient air; a pressure source communication line (6A, 6B; 16A-16D) configured to communicate with a pressure source (HP) that has a higher air pressure than the
ambient air; a switching mechanism (7A, 7B; 17A-17D) configured to perform switching between communication destinations of the pocket element (2A, 2B; 12A-12D) of the pocket-shaped actuator (1A, 1B; 11A-11D), such that the interior of the pocket element (2A, 2B; 12A-12D) communicates with the
ambient air, the negative pressure source communication line (5A, 5B; 15A-15D), and the
positive pressure source communication line (6A, 6B; 16A-16D) via the pocket element communication line (4A, 4B; 14A-14D); and a switching control section (8, 18) configured to control the switching between the communication destinations by the switching mechanism (7A, 7B; 17A-17D); wherein the gripping elements (122, 123) comprise respective contact gripping sections (126, 127) which are configured to grip the workpiece by contacting the workpiece; wherein at least one of the gripping elements (122, 123) is configured such that the contact gripping section (126, 127) and a base-end contact section (128, 129) are formed by respective pocket-shaped actuators of the pocket-shaped actuator systems, wherein the base-end contact section (128, 129) is arranged closer to a base end of the at least one of the gripping elements (122, 123) than the contact gripping section (126, 127), wherein the base-end contact section (128, 129) is configured such that it rests against the workpiece from the base end of the at least one of the gripping elements (122, 123).