| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-finger hand device capable of executing operation near to a human hand, with a simple constitution.SOLUTION: A wrist structure comprises a pair of wrist projection pieces 31 and 32 projecting toward an arm part from both outsides of a hand part, a first motor 41 positioned between the pair of wrist projection pieces and fixing a motor rotary shaft 41p of a first shaft P1 in the axis to at least one of the wrist projection pieces, a second motor 42 for fixing a motor rotary shaft 42p of a second shaft P2 in the axis to the arm part 60 at a right angle to the first shaft, a rotary bar 45 having one end fixed to the second shaft, a fixed bar 43 having one end fixed to the arm part, having the other end journaled by a third shaft P3 in a casing of the first motor and rotatably supporting the first motor around the third shaft, and a transmission bar 44 having one end rotatably journaled in the casing of the first motor by a fourth shaft P4 and having the other end rotatably journaled on the other end of the rotary bar by a fourth shaft P5.SELECTED DRAWING: Figure 2 |
