| 摘要 |
PROBLEM TO BE SOLVED: To provide a finger structure for a robot hand easily and stably gripping objects with various sizes. SOLUTION: A finger 1 of the robot hand has a finger body 2. Claw members 3A, 3B are provided to the tip part of the finger body 2. The tip shape of the claw member 3A is flat. The tip shape of the claw member 3B is pointed. A hole part 5, to which the claw members 3A, 3B are arranged, is provided to the tip part of the finger body 2. Springs 6A, 6B, which urge to the tip side of the finger body 2 and support the claw members 3A, 3B to the finger body 2 so as to make them freely come out or in, are arranged to the bottom side part of the hole part 5. When a small object is gripped by the two fingers 1, the object is stably gripped by the claw member 3A. When a large object is gripped by the two fingers 1, the object is stably gripped by the finger body 2. The scratching operation of the object is done by the claw members 3B. COPYRIGHT: (C)2006,JPO&NCIPI
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