Title:
ROBOT HAND AND ROBOT DEVICE
Document Type and Number:
WIPO Patent Application WO/2011/118646
Kind Code:
A1
Abstract:
Disclosed is a robot hand and a robot device that can readily achieve flexible gripping of a target gripping object, wherein the flexible gripping follows the shape of said target object. The robot hand is an underactuated robot hand (8) with a greater number of joints than actuators and comprises a palm section (11); three finger sections (12) whereby the bases thereof are connected to the palm section (11) and which comprise a plurality of links (16, 17, and 18) connected in a manner that enables bending; and a shape-fitting mechanism (US) positioned on one finger section (12A) which enables grasping such that a target gripping object (9) is enclosed by the finger sections (12) through the application of torsional displacement to the links (16, 17, and 18) .
Inventors:
MURATA Ken-ichi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
村田 健一 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
MAMBA Takashi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
萬羽 崇 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
YAMAGUCHI Go (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
村田 健一 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
MAMBA Takashi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
萬羽 崇 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
YAMAGUCHI Go (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
Application Number:
JP2011/057016
Publication Date:
September 29, 2011
Filing Date:
March 23, 2011
Export Citation:
Assignee:
Kabushiki Kaisha Yaskawa Denki (2-1 Kurosaki-Shiroishi, Yahatanishi-ku Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
株式会社安川電機 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 Fukuoka, 〒8060004, JP)
MURATA Ken-ichi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
村田 健一 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
MAMBA Takashi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
萬羽 崇 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
株式会社安川電機 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 Fukuoka, 〒8060004, JP)
MURATA Ken-ichi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
村田 健一 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
MAMBA Takashi (2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyushu-sh, Fukuoka 04, 〒8060004, JP)
萬羽 崇 (〒04 福岡県北九州市八幡西区黒崎城石２番１号 株式会社安川電機内 Fukuoka, 〒8060004, JP)
International Classes:
B25J15/08
Attorney, Agent or Firm:
MASUDA Hirofumi (Higashiueno Kamimura Bldg. 2nd Floor, 1-7-13 Higashiueno Taito-k, Tokyo 15, 〒1100015, JP)
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