| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand capable of carrying out various work appropriately using fingers. SOLUTION: The robot hand 1 comprises articulated fingers 3-6 connected to a base 2. The finger 4 has joints 11, 13, 15, the finger 5 has joints 20, 22, 24, and the finger 6 has joints 26, 28, 30. The joints 11, 15 of the finger 4 are formed as flexible joints with built-in springs. In the same way, the joints 20, 24 of the finger 5 and the joints 26, 30 of the finger 6 are all formed as flexible joints. The spring constant of the springs built in the flexible joints 20, 24 and flexible joints 26, 30 is made higher than those of springs built in the flexible joints 11, 15. The rigidity of the flexible joints 20, 24 and flexible joints 26, 30 is thereby higher than those of the flexible joints 11, 15. COPYRIGHT: (C)2009,JPO&INPIT
|
