| 摘要 |
PROBLEM TO BE SOLVED: To perform a flexible gripping action by easily reducing a working time without weakening a gripping force. SOLUTION: This robot hand 1 is provided with: a plurality of fingers F1, F2, and a plurality of planetary gear units 5, 6 transmitting a power to the fingers F1, F2, respectively. Sun gears 9, 10 of the planetary gear units 5, 6 are connected to a motor 17 in a manner to transmit a power, and a planetary arm 13 of the planetary gear unit 5 is connected to the finger F1 in a manner to transmit the power, and a planetary arm 14 of the planetary gear unit 6 is connected to the finger F2 in a manner to transmit the power. An inner gear 15 of the planetary gear unit 5 is connected to an inner gear 16 of the planetary gear unit 6 so as to transmit the power in a direction, in which the fingers F1, F2 approach to and separate from each other. COPYRIGHT: (C)2010,JPO&INPIT
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