| 摘要 |
A gripping hand (1) for a manipulator which consists of several hollow elements (9), simulating the human hand, which are linked to one another by articulations, whereby each member has a corresponding reversibly-actuated positioning drive (7) and a sensor (8). For programming, the sensors detect the movements of the elements which are derived from a human hand inserted in the gripping hand, and the signals from the sensors determine the program which the elements perform, controlled by the relevant positioning drive. The gripping hand is associated with an arm (10) which can be programmed by the movements of the gripping hand, if a human hand describing these movements is inserted in the gripping hand, and this arm can perform movements in three mutually perpendicular axes and rotary movements. |
