ROBOT HAND MECHANISM

摘要

The invention relates to a robot hand (1) mechanism, comprising an actuator block with a plurality of fingers (4) for gripping objects, and a joint for attaching said actuator block (3) to a robot arm (2). In order to avoid permanent damage due to collisions said robot hand (1) mechanism comprises at least one component (21, 23) constructed in a way that allows a change in the shape of the robot hand mechanism such that the robot hand mechanism temporarily yields when a force exceeding a predetermined threshold is directed towards said robot hand mechanism, and said robot hand (1) mechanism comprises at least one sensor for triggering an emergency stop when said temporary yielding occurs.