| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand capable of reducing size even when the robot hand includes an encoder.SOLUTION: A robot hand comprises: a first motor 5a and a second motor 5b; an encoder for detecting a rotation angle of a rotation axis; and a circuit board 6 in which a control circuit is installed for controlling the first motor 5a and the second motor 5b. The encoder comprises: a first rotating plate 24 and a second rotating plate 26 in which a scale is installed and which is installed at the rotation axis; and a first detection unit 28 and a second detection unit 29 for detecting the movement of the scale. At the circuit board 6, the first detection unit 28 and the second detection unit 29 are installed. The first detection unit 28 and the second detection unit 29 detect the rotation angles of the first rotating plate 24 and the second rotating plate 26 respectively. |
