| 摘要 |
A force-controlled electric hand including: an electric motor; a rotary-linear motion conversion mechanism converting rotary motion from the electric motor to linear motion; a pair of finger bases including a movable finger base which moves linearly in parallel with a first axial line through the rotary-linear motion conversion mechanism by power from the electric motor; a pair of fingers fixed to the pair of finger bases to grip a target workpiece by linear motion of the movable finger base; and a force sensor provided at least at one of the pair of finger bases to detect gripping force of the pair of fingers. The force sensor has a pair of parallel beams extending in parallel with a second axial line vertical to the first axial line and detects the gripping force based on an amount of displacement of the parallel beams in a direction of the first axial line. |
