| 摘要 |
PROBLEM TO BE SOLVED: To increase the force of gripping a target article (pressing force at an application point) with a robot hand having a multi-joint finger or a multi-joint robot arm using an existing drive motor.SOLUTION: A first rotation body is mounted rotatably to a base body, and a second rotation body is mounted rotatably to the first rotation body. A first drive source is disposed for driving the first rotation body, and a second drive source is disposed for driving the second rotation body. Further, the base body is provided with an abutment part so as to enable the first and second rotation bodies to rotate together in the state of the second rotation body being abutted to the abutment part by rotating the second rotation body. This makes it possible to increase gripping force of the first rotation body using reactive force that the second rotation body receives from the abutment part of the base body with driving of the second drive force when pressing the target article by rotating the first rotation body by driving the first drive source. |
