| 摘要 |
PROBLEM TO BE SOLVED: To provide a grip-type robot hand with two fingers having a mechanism preventing an object to be gripped from dropping even if a command value to an actuator for driving fingers becomes zero. SOLUTION: In the fingers 12, a second leaf spring 2 is connected to a third link 1, a second link 3 is connected to the second leaf spring 2, a first leaf spring 4 is connected to the second link 3, and a first link 5 is connected to the first leaf spring 4. The fingers 12 are covered with an exterior 6, and the object to be gripped is gripped by the exterior 6 through the linear motion of the first link 5 by the rotation of the rotary shaft 9 of the actuator 10. When the exterior 6 is contacted with the object to be gripped, the object to be gripped can be stably gripped by the deformation of the first leaf spring 4 and the second leaf spring 2 along the object to be gripped. The grip-type robot hand 14 can stably grip the object to be gripped without dropping the object by the tension of a tension spring 7 connected to the first link 5 and a damping force of a damper 8 even if the command value to the actuator 10 becomes zero. COPYRIGHT: (C)2008,JPO&INPIT
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