Patent ID: 7735887
Filing Date: 2010-06-15
Classification: B25J

Abstract:
1. A robot hand apparatus comprising: a base; a motor fixed to the base; a first link which is supported by the base while allowing a rotation around a first axis and which has a first guide path in which a control axis is movable, the first axis is in parallel to an actuation axis of the motor and is positioned apart from the actuation axis; a second link which connects with the actuation axis of the motor and supports the control axis, and which moves the control axis within the first guide path in accordance with a rotation of the actuation axis of the motor; and a finger link which is supported by the first link while allowing a rotation around a second axis crossing the first axis, the finger-link directly or indirectly connects with a control axis so that the finger-link is rotated around the second axis in accordance with the actuation of the control axis.