| 摘要 |
PROBLEM TO BE SOLVED: To make shape acknowledgement of a component easily and quickly by measuring the three-dimensional shape of a work to be measured at the same time as the grasping motion of a robot hand. SOLUTION: In a conventional arrangement, acknowledgement of the three- dimensional shape at grasping a component by any robot hand has been very difficult. According to the contact type shape sensing robot hand of this invention, information of the three-dimensional shape can be taken out in the form of electric signals by using an electric output means and electric measuring means by the use of a matrix-form electrode film installed in the position as mating, and a shape acknowledging sensor capable of acquiring three- dimensional shape information on the basis of the electric signals is installed in the grasping/contacting part of the hand, and thereby a hand is established capable of performing the shape measurement of the component easily only through the grasping operation.
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