A FINGER-TYPED ROBOT HAND SWITCHING A DRIVING AXLE

摘要

A robot hand having fingers with knuckles is provided to hold an object with uniform grip force by pivotting first and second knuckles with a multi-stage drive unit. A robot hand having fingers with knuckles comprises a reference knuckle(10), a first knuckle(20), a second knuckle(30), and a multi-stage drive unit(40). The reference knuckle is provided with a drive shaft(1a) which is rotated by a power source. The first knuckle pivots around the reference knuckle by connecting a first shaft(A) located at one end with the drive shaft. The second knuckle, which connects with the other end of the first knuckle through a second shaft(B), pivots around the first knuckle by connecting with the drive shaft through a power transmission member(45). When the first knuckle is stopped by a predetermined external force, the multi-stage drive unit transmits torque of the drive shaft to the second shaft of the second knuckle through the power transmission member.