Abstract: The invention relates to a gripper device for a robot gripper, wherein the gripper device comprises a mechanical actuation with at least two contact elements guided linearly and in parallel in a direction of actuation, at least one mechanically activatable and/or deactivatable functional portion for objects to be gripped, and a transmission with at least two levers for converting a mechanical actuation power, and wherein the at least two contact elements on the one hand and the at least two levers on the other hand are each articulated to each other with a degree of freedom f=2.

Abstract: A protective device for an effector of a manipulator includes a shell having a plurality of chambers, wherein the shell is flexurally slack and bounds a fillable and/or evacuable pressure space. The protective device further includes at least one first pulling means for pulling back the shell, and at least one actuator for applying a tensile force to the at least one first pulling means. A device for manipulating workpieces includes a robotic manipulator having an effector, and the protective device disposed proximate the effector.

Abstract: The invention relates to a gripper jaw for a robot gripper, the gripper jaw having a first gripper jaw interface corresponding with the robot gripper and a second gripper jaw interface corresponding with tools of a tool set, the gripper jaw interfaces each being used as a mechanical interface, as a signal interface and as a power interface; to a tool for a gripper jaw of this type the tool having a tool interface corresponding with the second gripper jaw interface; to a tool system, the tool system comprising at least one gripper jaw of this type and a tool set with tools of this type; and to a method for operating a tool system of this type, wherein first a tool is selected, thereafter said tool is picked up from a predefined position, thereafter said tool is used and thereafter said tool is deposited in the predefined position.

Abstract: A protective device for an effector of a manipulator includes a shell having a plurality of chambers, wherein the shell is flexurally slack and bounds a fillable and/or evacuable pressure space. The protective device further includes at least one first pulling means for pulling back the shell, and at least one actuator for applying a tensile force to the at least one first pulling means. A device for manipulating workpieces includes a robotic manipulator having an effector, and the protective device disposed proximate the effector.