| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand which has the ratio of thickness to the length of a hand smaller than that of the conventional robot hand and has a force detection function.SOLUTION: A robot hand includes a hand base part, at least one finger, a wrist connection frame connected to a tip part of the robot arm and a force sensor which detects at least uniaxial translational force or a force sensor which detects torque. Therein, the hand base part is configured by connecting a palm side frame located on the palm side of the robot hand and a back side frame located on the back side of the robot hand; the force sensor is arranged so as to be incorporated in the hand base part; one side attachment surface of the force sensor is connected to the wrist connection frame, and the other side attachment surface of the force sensor is connected to the hand base part; and the force sensor detects force actuated to the hand base part and force actuated to the finger. |
