| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand for assembling in which a center position of a compliance action and magnitude of a compliance can be optionally changed, and a complicated calculation is not required at a passive movement. SOLUTION: The robot hand for assembling is provided with: a plurality of chuck jaws 13 arranged in a line symmetry against one centerline 12, and being oscillatory on a plurality of plane surfaces overlapped with the center line around an oscillating a plurality of axes orthogonal to the center line; a means for moving the center position of the plurality of oscillating axes in the direction approximately orthogonal to the center line; and a plurality of means for loading force on the ends of the plurality of chuck jaws. The center position of the compliance action of a shaft-like member and the magnitude of the compliance is adjusted by changing the magnitude of the force loaded on positions and the ends of the plurality of oscillating axes. COPYRIGHT: (C)2009,JPO&INPIT
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