Title:
ROBOT HAND
Document Type and Number:
Japanese Patent JP3717218
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To stably hold an object without damaging it and to hold the object regardless of its shape and size.
SOLUTION: A robot hand is formed in a constitution comprising a plurality of finger mechanism parts 1, 2 respectively having at least one freedom degree to be able to generate drive force and a robot hand base part 19 commonly mounting each finger mechanism part. Here, in the robot hand base part, a palm mechanism part is provided, which is a palm mechanism part 14, having at least two freedom degrees that related to direct acting in a vertical direction relating to the robot hand base part and that related to rotation in the same direction to the freedom degree of the finger mechanism part, so as to hold an object by the finger mechanism part and this palm mechanism part by pressing the object to this palm mechanism part with action of the finger mechanism part.
Inventors:
Toshimitsu Irie
Kawabe Mitsunori
Umezu Mayumi
Kawabe Mitsunori
Umezu Mayumi
Application Number:
JP33596295A
Publication Date:
November 16, 2005
Filing Date:
November 29, 1995
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B25J15/00; B25J15/08; (IPC1-7): B25J15/08
Domestic Patent References:
| JP63251186A | ||||
| JP3005937U | ||||
| JP7335733A | ||||
| JP6335887A | ||||
| JP6190765A | ||||
| JP630862B2 | ||||
| JP641115B2 |