| 摘要 |
PROBLEM TO BE SOLVED: To provide a small and compact robot hand finger joint driving mechanism for obtaining a torque and speed required in accordance with a rotational position. SOLUTION: The robot hand finger joint driving mechanism 1 has: a rotary actuator 5; a driving-side gear 6 rotationally driven by the rotary actuator 5; a driven-side gear 7 fitted to the driving-side gear 6; and a joint shaft 3 driven by the driven-side gear 7, and the driving-side gear 6 and the driven-side gear 7 are non-circular gears. By using the non-circular gear such as an elliptical gear, within a predetermined finite rotation angle range in one rotation, a reduction gear ratio is changed depending on the rotation angle positions of both gears. The final reduction gear ratio of a rotating force transmission mechanism becomes large at a finger operation portion in which a torque is required, thereby grasping an object is grasped with a large force, and the final reduction gear ratio is made small at the finger operation portion in which no torque is required, to move the finger at a high speed. COPYRIGHT: (C)2010,JPO&INPIT
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