描述了一种用于柔性制造单元中机器人ULSE的电动平行运动夹具。夹持器和控制电路提供连续抓取不同物体的能力，而不需要对夹持器进行任何机械改变，尽管任务在物体的大小、重量、结构和表面纹理方面存在很大差异。通过抓取器和控制计算机之间的电子通信获得变化。各种传感器提供足够的信息，用于连续反馈力、位置和控制连续动作和离散事件所需的其他数据。

AN ELECTRICALLY DRIVEN, PARALLEL MOTION GRIPPER IS DESCRIBED AS DEVELOPED FOR ULSE ON A ROBOT IN A FLEXIBLE MANUFACTURING CELL. THE GRIPPER AND CONTROL CIRCUITS PROVIDE THE ABILITY TO SUCCESSIVELY GRASP DIFFERENT OBJECTS WITHOUT ANY MECHANICAL CHANGE TO THE GRIPPER DESPITE CONSIDERABLE VARIATION IN THE TASK IN TERMS OF SIZE, WEIGHT, STRUCTURE, AND SURFACE TEXTURE OF THE OBJECTS. CHANGES ARE OBTAINED USING ELECTRONIC COMMUNICATION BETWEEN THE GRIPPER AND CONTROL COMPUTORS. VARIOUS SENSORS PROVIDE SUFFICIENT INFORMATION FOR CONTINUOUS FEEDBACK OF FORCE, POSITION, AND OTHER DATA AS REQUIRED FOR THE CONTROL OF CONTINUOUS ACTIONS AND DISCRETE EVENTS.