| 摘要 |
Provided is an underactuated robot hand and a robot. The robot hand is provided with a frame and a finger unit (22) which is provided on the frame and which grips a gripping object. The finger unit (22) is provided with the following: a Scott-Russell mechanism (SRM) comprising a swinging lever member (SL) and a conversion link member (41) rotatably connected to an end of the swinging lever member by means of a connecting part positioned at an intermediate part; a first parallel link mechanism comprising at least the swinging lever member (SL) and a common link member (CL) rotatably connected to the connecting part; and a second parallel link mechanism comprising the common link member (CL), the conversion link member (41), a tip part link member (42), and an opposing conversion link member (41f). |
