Title:
ROBOT HAND PROVIDED WITH ARTICULATED FINGER
Document Type and Number:
WIPO Patent Application WO/2022/186033
Kind Code:
A1
Abstract:
An articulated finger F of a robot hand H is provided with a first finger part 11, a second finger part 12, and a third finger part 13. The second finger part 12 is connected to the first finger part 11 so as to be able to rotate about a first rotation axis, a bendable/extendable first joint 21 is formed, the third finger part 13 aid connected to the second finger part so as to be able to rotate about a second rotation axis, and a bendable/extendable second joint 22 is formed. A bending force action part W2 that causes a bending force to act on the first joint 21 and the second joint 22, a first elastic body 5 provided in the vicinity of the first joint 21 that generates an extension force that resists the bending force acting on the first joint 21, and a second elastic body 62 provided in the vicinity of the second joint 22 that generates an extension force that resists the bending force acting on the second joint are provided, and the extension force of the second elastic body 62 is smaller than the extension force of the first elastic body 61.
Inventors:
TANAKA KAZUAKI (JP)
Application Number:
PCT/JP2022/007540
Publication Date:
September 09, 2022
Filing Date:
February 24, 2022
Export Citation:
Assignee:
NAT UNIV CORP KYOTO INST TECHNOLOGY (JP)
International Classes:
B25J15/08; A61F2/54; A61F2/56; B25J15/10
Foreign References:
| JP2014172116A | 2014-09-22 | |||
| JP2008178968A | 2008-08-07 | |||
| JP2015142145A | 2015-08-03 | |||
| JP2007216332A | 2007-08-30 | |||
| JP2013039656A | 2013-02-28 | |||
| JP2009291853A | 2009-12-17 |
Attorney, Agent or Firm:
ONO Atsushi (JP)
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