| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot hand that grasps an object to be grasped at a desired position. <P>SOLUTION: A gripper 99 includes a finger 81 for gripping a tissue paper box Q or a paper cup T as the object to be grasped. The gripper is configured so that a protrusion 84e protruding from a grip surface 84a is formed in a desired position of the grip surface 84a of a link 84 of the finger 81; the protrusion 84e is formed in the approximate center of the grip surface 84a of the link 84 of the finger 81; the protrusion 84e is formed of an elastic body such as silicon rubber; the protrusion 84e is formed of the silicon rubber, urethane rubber, or chloroprene rubber; and the grip surface 84a includes a contact resistance surface sensor 84b for detecting a load position. <P>COPYRIGHT: (C)2012,JPO&INPIT |
