| 摘要 |
The invention provides a mechanical gripping organ (1) for simulating movements in a human hand. The gripping organ has a supporting platform (2) that corresponds to the middle hand of a human hand. The platform (2) has a front side (14) for accommodating at least two finger organs (10 - 13). The finger organs are pivotably arranged relative to the said platform (2). The finger organs (10 - 13) can pivot about at least one finger bone joint (9). The gripping organ (1) furthermore has a thumb finger (17) corresponding to the thumb of a human hand and secured on one side of the platform. The thumb finger (17) is arranged so that it can pivotably move about a thumb base axis (19) that is inclined at an angle alpha that is less than 90 DEG relative to the longiduinal axis of the lower arm. The gripping organ (1) is arranged so as to execute, as desired, a precision grip, power grip and key grip by co-ordination of drive arrangements by means of control signals that control bending movements of the elements of the finger organs (10 - 13) and pivoting movements of the thumb finger (17). |
