| 摘要 |
PROBLEM TO BE SOLVED: To provide a finger mechanism for robot hand that can change holding characteristic by the movement of only fingertip part, and to provide a robot hand provided with the finger mechanism.SOLUTION: A robot hand 1 includes a palm part 2 and two finger parts 3 and 3 connected to the palm part 2. Each of the finger parts 3 and 3 includes a base 5 of which one end is provided on the palm part 2 rotatably by means of a rotary shaft 4, a fingertip part 7 of which one end is provided on the other end side of the base 5 rotatably by means of the rotary shaft 6, and an ultrasonic motor 8 for controlling the rotation of the rotary shaft 6. The fingertip part 7 is provided with a first projection 11 and a second projection 12 extending in different directions with each other, with the rotary shaft 6 in between. The first projection 11 is provided with a first holding face 13 and the second projection 12 is provided with a second holding face 14, and the first and second holding faces 13 and 14 are provided on the surfaces of different faces with the rotary shaft 6 of the fingertip part 7 in between, respectively. |
