Title:
関節構造体及びロボットハンド
Document Type and Number:
Japanese Patent JP7141088
Kind Code:
B2
Abstract:
The purpose of the present invention is to avoid partial interference of attachment members involved in bending/stretching movement of a body, and to enable maintaining the arrangement state of the attachment members in the entire area of the body, irrespective of the bending/stretching movement. A robot finger 11 of the present invention is provided with: a body 13 including a plurality of phalanx sections 18-20; a driving device 15 housed in the body 13; and a movement mechanism 16 that, by using power from the driving device 15, causes bending/stretching movement of the body 13 between a stretched posture in which the adjacent phalanx sections 18-20 are aligned on a substantially straight line and a bent posture in which the phalanx sections 18-20 are bent in only one direction. The movement mechanism 16 includes a joint section 22 for coupling the phalanx sections 18-20 in a rotatable manner within a prescribed range, and has a structure which causes the bending/stretching movement in a state where the rotation center C is located outside the joint section 22.
Inventors:
Schmitz Alexander
許 ▲晋▼誠
Kousuke Kusayanagi
Shigeki Kanno
許 ▲晋▼誠
Kousuke Kusayanagi
Shigeki Kanno
Application Number:
JP2018092616A
Publication Date:
September 22, 2022
Filing Date:
May 11, 2018
Export Citation:
Assignee:
Waseda University
International Classes:
B25J15/08; B25J15/10
Domestic Patent References:
| JP2016055250A |
Foreign References:
| US20160120681 | ||||
| WO2004000508A1 | ||||
| WO2008026574A1 | ||||
| US6565563 | ||||
| US20170224516 |
Attorney, Agent or Firm:
Enomoto Hidetoshi