| 摘要 |
PROBLEM TO BE SOLVED: To provide a wire drive type robot hand capable of stably holding irrespective of the degree of the flexibility of a held matter, reduced in weight, and simplified in structure. SOLUTION: In this robot hand 2 in which first to third links L1 to L3 are rotatably connected to each other, a high polymer actuator 24 extended/retracted to drive the first link by applying a voltage thereto in the state of being connected between the first link and the second link is used as a drive source for a first articulation portion 23a for rotating the first link relative to the second link. On the other hand, second and third pulleys P2 and P3 rotatably supporting the second and third links, a tightening wire Y1 and a loosening wire Y2 connected to these pulleys, and a first DC motor M1 connected to drive these both wires are used as a drive source for second and third articulation portions 23b and 23c. COPYRIGHT: (C)2005,JPO&NCIPI
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