Patent ID: 9643323
Date: 2017-05-09
CPC Classifications: B25J

Claim:
1. A robot hand, comprising: a base section; a first finger link pivotably connected to the base section; a second finger link pivotably connected to the first finger link; a third finger link pivotably connected to the second finger link; an auxiliary link that interlocks pivoting of the second finger link relative to the first finger link with pivoting of the third finger link relative to the second finger link; a first actuator that imparts driving force to the first finger link so that the first finger link pivots relative to the base section; and a second actuator that imparts driving force to at least one of the second finger link and the third finger link so that the second finger link pivots relative to the first finger link and the third finger link pivots relative to the second finger link, wherein the first actuator and the second actuator are arranged at the base section, the first actuator is a first linear actuator having a body and a shaft that linearly moves relative to the body, the second actuator is a second linear actuator having a body and a shaft that linearly moves relative to the body, and the body of the first linear actuator and the body of the second linear actuator are arranged at the base section.