MULTI-FINGER MOVABLE ROBOT HAND AND FINGER JOINT DRIVING AND CONTROLLING METHOD IN THE SAME ROBOT HAND

摘要

PROBLEM TO BE SOLVED: To increase holding torque when bending and driving finger joints by using a shape memory material and to adjust a positional relation between a thumb and four other fingers by movably mounting the thumb in an artificial hand of multi-fingers and multi-joints. SOLUTION: A multi-finger movable robot hand X has movable fingers 21; 22; 23; 24 rotating and connecting each finger joint to be refractable to a palm side and to be extensible and recoverable, and a finger joint driving mechanism performing a motion control of a holding or opening operation including a stationary behavior by inserting bending/stretching guiding wire members 17; 18 (19; 20) into adjacent movable fingers 21; 22 (23; 24) and performing a towing operation by locking the inter-finger communicating portion on a mobile body 10 capable of being driven to advance and retreat in a wrist direction. In this case, the shape memory materials (shape memory metals) of fixed lengths are used as the bending/stretching guiding members 17; 18(19; 20), and the energizing control means 30 is provided. When performing a holding operation, the shape memory metals are driven to contract or restore the shape in the longitudinal direction. COPYRIGHT: (C)2009,JPO&INPIT