Robot hand

摘要

A robot hand, which has an arbitrary object grasping function in the same manner as a human hand and a high precision and stable grasping function in the same manner as an industrial gripper and performs a pose similar to a human hand while having complete opposability without any increase in complexity or degree of freedom. The robot hand includes a base part, and a plurality of finger connection parts, and a plurality of finger modules connected to the plurality of finger connection parts. The finger connection parts connected to the base part are connected to adjacent finger connection parts by roll joints such that each pair the finger connection parts connected by the roll joints is driven together, and the finger connection parts adjacent to the finger connection parts connected to the base part are driven separately from the finger connection parts connected to the base part.

主权项

1. A robot hand comprising:
a base part; a plurality of finger connection parts provided on the base part such that some of the plurality of finger connection parts are connected to the base part; and a plurality of finger modules respectively connected to the plurality of finger connection parts so as to grasp an object, wherein: among the plurality of finger connection parts, finger connection parts connected to the base part are respectively connected to adjacent finger connection parts by roll joints to thereby provide pairs of finger connection parts with each pair including a finger connection part connected to the base part and an adjacent finger connection part, and such that,
for each of the pairs, when the finger connection part connected to the base part of the respective pair is driven, the adjacent finger connection part of the respective pair is rotated together with the finger connection part connected to the base part of the respective pair; and the finger connection parts adjacent to the finger connection parts connected to the base part are drivable separately from the finger connection parts connected to the base part so that the plurality of finger modules performs symmetrical grasping.