PURPOSE: To allow a robot hand to exert a stable gripping performance by permitting the hand to work with multi-joint and multi-degree of freedom by means of a combination of three types of finger modules with different functions, and facilitating assembly and disassembly.
CONSTITUTION: A finger module consists in a combination of a first link module 2 rotating round the first joint shaft of a base module 1, a first or third drive module 5 equipped with an output means, decelerating means and motor installed on the first link module 2, a second link module 6 rotated by the second drive module 4, and a third link module 7 rotated by the third drive module 5. The first link module 2 is fixed to the base module 1, and the first or third drive module 5 and the second link module 6 are installed separately in the first link module 2, and the third link module 7 is located in the second link module 6.
| JPS60249552 | WORK GRASPING DEVICE |
| JPH09267278 | MANUFACTURE OF MICROMANIPULATOR AND PIEZOELECTRIC ACTUATOR |
KAWASE MASAO
KANAMORI AKIHIKO
NARUOKA GINJI
TOYAMA OSAMU
TOYOTA MOTOR CORP
TOYODA MACHINE WORKS LTD