| 摘要 |
PROBLEM TO BE SOLVED: To promote miniaturization of physical constitution of a robot hand.SOLUTION: A pad 16 is attached so as to extend over a joint part 12 of a finger 14 whose opening/closing operation is possible. When the inside of a bag 18 constituting the pad 16 is decompressed by pressure adjustment means 22, capacity of the bag 18 decreases, accumulation ratio of particles 20 inside the bag 18 increases, and relative movement of the particles 20 is blocked. Thus, an appearance shape of the pad 16 is fixed. When the inside of the bag 18 is decompressed, and the appearance shape of the pad 16 is fixed at an arbitrary opening/closing state of the finger 14, a rotation operation of the joint part 12 of the finger 14 to which the pad 16 is attached is blocked by the pad 16 whose shape is fixed. As the result, the finger 14 is fixed to an opening/closing state at the point of time. At this state, the joint part 12 of the finger 14 cannot actively rotate by an opening/closing operation mechanism provided to a robot hand 10. |
