GRIPPER

To provide a gripper that can grip a soft object without breaking the object, which can be manufactured at low cost.SOLUTION: A gripper comprises a pair of expanding parts 10 for gripping an object 2 and a connecting part 11 connecting the expanding parts 10, in an integrated fashion. The expanding parts 10 and the connecting part 11 are composed of elastic members having at least a void part 22 continuing in a gripping direction of gripping the object 2. At least a portion of the connecting part 11 is a soft part 20 having a plurality of wall parts (wire rods 23) laminated in the gripping direction, where the wall parts arranged adjacent to each other in the gripping direction in the soft part 20 are laminated while having phase shifts in a crossing direction crossing the gripping direction. The expanding parts 10 and the connecting part 11 are structured so that layers 24 in parallel cross shapes are laminated in a Z-axis direction by crossing the wire rods 23 having elasticity with each other in two directions of an X-axis direction and of a Y-axis direction. In the soft part 20, the layers 24 in parallel cross shapes arranged adjacent to each other in the Z-axis direction are laminated while causing phase-shifts in the X-axis direction and in the Y-axis direction.SELECTED DRAWING: Figure 9 【課題】軟質な対象物を破損することなく把持できるグリッパを低コストで製造する。【解決手段】対象物２を把持する一対の張出部１０と、張出部１０を連結する連結部１１とを一体的に備えており、張出部１０と連結部１１は、少なくとも対象物２を把持する把持方向に連続する空隙部２２を有する弾性部材にて構成され、少なくとも連結部１１の一部は、把持方向に積層された複数の壁部（線材２３）を有する軟質領域２０であり、軟質領域２０において把持方向に隣り合う壁部が、把持方向と交差する交差方向において位相ずれを有した状態で積層されている。張出部１０および連結部１１は、弾性を有する線材２３をＸ軸方向とＹ軸方向の２方向で交差させて井桁状に組んだ井桁層２４をＺ軸方向に積層させたものからなり、軟質領域２０は、Ｚ軸方向に隣り合う井桁層２４同士がＸ軸方向とＹ軸方向の方向において位相ずれを有した状態で積層されている。【選択図】図９