| 摘要 |
A multi-finger hand device capable of performing the smooth bending and stretching operations of finger mechanisms in an object holding operation while reducing the number of actuators as drive sources for the bending and stretching operations of the finger mechanisms wherein a wire (30) extended from the finger mechanisms (2b, 2c) of the finger mechanisms (2a to 2c)energized to a stretching side by springs (16,25) and a wire (29) extended from the finger mechanisms (2d,2e) are wound on pulleys (33,32), respectively, a wire (31) extended from the finger mechanism (2a) is wound on a pulley (36) and pulled to an arm body (5) side, the pulleys (32,33,36) are rotatably held on a pulley holding member (43) rotatable about a pivot shaft (42) and movable to the arm body (5) side, and the wire (31) is pulled by actuators installed in the arm body (5) or the pulling is released to collectively perform the bending and stretching operations of the finger mechanisms (2a to 2e), whereby the bending and stretching operations of the other finger mechanisms can be performed even if either of the finger mechanisms fails to move by the contact thereof with an object during the bending and stretching operations of the finger mechanisms (2a to 2c). <IMAGE> |
