| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand having a finger link position fixing mechanism capable of not only fixing the position of a finger link in such a state of grasping an object but also actively increasing the grasping force acting on the object. SOLUTION: The robot hand 1 is equipped with a finger tip link 23, a motor 200, an input pulley 202 rotated by the motor 200, an output pulley 204 fixed to the finger tip link 23, at least one band-shaped transmitting member (wire 203) tensed between the input 202 and output pulleys 204 and transmitting the rotation of the input pulley 202 to the output pulley 204, and a clamp 205 arranged to maintain the stop of the output pulley 204 by pressing the wire 203 and fixing and to energize the output pulley 204 in the direction of increasing the grasping force acting from the finger tip link 23 to the grasped object with the tensile force of the wire 203 pressed. COPYRIGHT: (C)2009,JPO&INPIT
|
