| 摘要 |
PROBLEM TO BE SOLVED: To realize one or two or more functions of a fitting mechanism, parallel opening and closing of a fingertip, amplification of a bending angle of the fingertip at the time of fitting operation and full opening of a finger portion so as to bring a palm portion into direct contact with an object body with a small number of actuators and to provide a robot hand in low costs.SOLUTION: A robot hand comprises: a base 11; a finger portion 13 provided on the base 11. The finger portion 13 includes: a first link 21; a second link 22; a third link 23; a fourth link 24; a first rotary shaft 31 connecting the first link 21 and the second link 22 in a rotatable manner; a second rotary shaft 32 connecting the second link 22 and the third link 23 in the rotatable manner; a third rotary shaft 33 connecting the third link 23 and the fourth link 24 in the rotatable manner; and a fourth rotary shaft 34 connecting the fourth link 24 and the first link 21 in the rotatable manner.SELECTED DRAWING: Figure 2 |
