Robot hand driving mechanism

摘要

A mechanism for driving a robot hand mounted on a robot arm includes a pair of planetary gear assemblies coupled to motors for swinging the robot hand about a first shaft and for rotating the robot hand about a second shaft through transmission systems. During swinging motion of the robot hand about the first shaft, rotative power from the motor which causes such rotation is transmitted by the planetary gear assemblies to the second shaft also, so that rotation of the robot hand resulting from the swinging motion of the robot hand can be cancelled out.