ROBOT HAND

Japanese Patent JP3245095

B2

PROBLEM TO BE SOLVED: To enable the same movement as human fingers by enhancing the degree of freedom of fingers by orthogonally crossing two joint shafts on the root side of each finger at a point and independently driving the two joints by providing two motors on the palm.
SOLUTION: A joint shaft 7 and a joint shaft 8 are crossed at a point and are orthogonally crossed. A motor 11 and a motor 12 are fixed by being overlapped on the palm. Further, the structure is made to have a mechanism in which revolution around the joint shaft 8 and revolution around the joint shaft 7 are made possible by a bevel gear at the inside of an asymmetric differential reduction gear 19. When the motor 11 and the motor 12 perform the same angle revolution in each opposite direction, fingers revolve around the joint shaft 8 via the bevel gear at the inside of the asymmetric differential reduction gear 19. When the motor 11 is fixed and the motor 12 is revolved, the fingers revolve around the joint shaft 7. Because the joint shafts 7 and 8 are provided at the locations near the surface side of the palm, movement similar to the movement of the human hands can be made.

Haruhisa Kawasaki
Tsuneo Komatsu

JP21317397A

January 07, 2002

August 07, 1997

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川▲崎▼ 晴久
Naoyuki Shimomura
Yuji Shimizu
Hiroshi Noda
Matsunami Toshinori
Hideyo Iwata
Tetsuo Fujita
Gifu Research and Development Foundation

B25J15/08; B25J15/00; (IPC1-7): B25J15/08

JP392280A
JP61182788A
JP446787A
JP62282889A
JP48491A
JP6084291U
JP2502173A

Hironobu Onda

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