| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform rotation control at an arbitrary angle while an article is gripped. Ž<P>SOLUTION: A grip contact 31 is attached to fingers 2a and 2b of a robot hand, a protrusion 32a is formed at the center of the grip contact 31, and protrusions 32b-32n lower than the protrusion 32a are formed around the protrusion 32a. The protrusion 32a has a lower friction coefficient on a surface than those of the protrusions 32b-32n. When only the tip of the protrusion 32a is in contact with the article, the same result is brought in as the case that the article is supported at two points by large pressure, so that the article is restrained in a translation direction but free in a rotation direction around an axis passing through a supporting point. As grip force of the fingers 2a and 2b is increased, the protrusion 32a becomes dented and lower in height. Thus, the article is caught also by the protrusions 32b-32n with a large friction coefficient, and the article is constrained both in translation and rotation directions. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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