| 摘要 |
PROBLEM TO BE SOLVED: To provide an asynchronous robot hand of four pawls having a mechanism capable of positioning at the center of an object without changing a finger irrespective of the shape and direction of target object to be gripped. SOLUTION: The robot hand has levers 3, 3', 4, 4' for gripping the objects, and two large and small pistons 8, 8' in a casing 2. The robot hand synchronously performs driving a pair of opposed levers with a pair of pistons. The robot hand performs asynchronous driving which does not synchronize with another pair of levers orthogonal to each other. COPYRIGHT: (C)2007,JPO&INPIT
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