| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable a single robot hand to stably grip an object in a different direction in accordance with each shape and/or property of the various objects to be gripped. Ž<P>SOLUTION: A polygonal link mechanism 18 includes at least four links 30a, 30b, 31a-31d, and hinges 32a-32h respectively mounted to the links to rotatably connect the links adjacent to each other. The links are circularly connected in series through the hinges to form a polygon. A direct-acting drive mechanism is arranged between the hinges or the links facing each other to expand/contract a distance between the hinges or the links. Fingers 11a-11d are respectively fixed on at least the three links the respective directions of which are varied one another by movement of the direct-acting drive mechanism. An arranged position of the finger is varied with expansion and contraction of the polygonal link mechanism. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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