| 摘要 |
PROBLEM TO BE SOLVED: To provide a finger joint mechanism for realizing simple structure functioning as one finger and allowing mounting of a function body for certainly gripping objects such as daily living articles without damaging them using the plurality of structures, and provide a gripping unit. SOLUTION: Many link bars 21-23 are sequentially interconnected from a link base 20 to provide a multi-nodal link row (finger link part 2), a slide shaft 31 engaged with a shaft hole 27 in the link base is fixed to a substrate 30, and tension springs 34, 35 are hung over both sides of the link base. Each link shaft is provided with pulleys 44-46, a driving pulley 40 is connected to a driving motor 43 under the link base, a transmission wire 41 is hung back and forth over the pulleys to transmit a rotation force, and a tip link bar 23 is rotated and transferred into a folding attitude in the axial direction of the slide shaft. The link base can oscillate about the slide shaft and move in the axial direction, but has a restoring force for returning to an initial attitude by the tension springs.
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