| 摘要 |
PURPOSE: A robot hand is provided to implement fastening of a small screw or writing with a ballpoint pen through precise pinching motion of the thumb and the index finger because the tip of the index finger faces the thumb. CONSTITUTION: A robot hand comprises a base part(110), a thumb(120), an index finger(130), a thumb joint(121), an index finger joint(131), and an articulated linkage(140). A palm is formed on a side of the base part. The thumb and the index finger are coupled to the base part. The thumb joint is formed in the thumb to connect the thumb to the base part and rotated in the roll direction. The index finger joint is formed in the index finger to connect the index finger to the base part. The articulated linkage is arranged between the thumb joint and the index finger joint and connects the rotation of the roll direction of the thumb to the rotation of the yaw direction of the index finger. |
