| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a joint mechanism of a robot which makes an entire finger part move easily by reducing force required in moving the entire finger part.SOLUTION: A joint mechanism 8 includes: a base part 81 formed in a cylindrical shape; a worm 82 concentrically arranged inside the base part 81; and two worm wheels 83 which are arranged on the base part 81 and rotate in conjunction with rotation of the worm 82 by fittig to the worm 82. The base part 81 and an end part of the worm 82 are supported by a main body part 51 of a hand 5 so as to rotate around their own central axes. The main body part 51 includes an angle detection device 9 which detects a difference of rotation angles of the base part 81 and the worm 82. The angle detection device 9 detects the difference of the rotation angles of the base part 81 and the worm 82.</p> |
