| 摘要 |
PROBLEM TO BE SOLVED: To provide a walking type robot in which an article can be always accurately gripped by effectively absorbing the deviation of a target position of a finger part operated by positional control to the article with a simple and lightweight constitution when the article is gripped. SOLUTION: The article (a plate material P) is gripped by a second finger part 62 fixed to a hand part 6 and a first finger part 61, which is connected to the hand part 6 so as to be capable of freely oscillating via a joint shaft 61a at the base part. A fingertip link 61B is connected to the tip of the first finger part 61 so as to be capable of freely oscillating via a first joint shaft 61b parallel to the joint shaft 61a at the base part. The fingertip link 61B is energized so as to be bent to the second finger part 62 side by a torsion coil spring 64. When the article is gripped, the fingertip link 61B is always elastically brought into contact with the article. Even if the deviation of the target position of the first finger part 61 to the article occurs, the deviation is absorbed by the deformation of the torsion coil spring 64 and the article can be accurately gripped. COPYRIGHT: (C)2005,JPO&NCIPI
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