Patent ID: 8157305
Filing Date: 2012-04-17
Classification: B25J,Y10S

Abstract:
1. A robot hand comprising: a hand attaching base portion; a force sensor disposed on the hand attaching base portion; a finger base that is disposed on a measuring unit for the force sensor; a pair of fingers that are disposed so as to be opposed to each other on the finger base; a finger-driving mechanism base that is disposed on the hand attaching base portion, with such that gaps are formed between the finger-driving mechanism base and each of the force sensor, the finger base, and the paired fingers; a finger driving mechanism that has a wire having respective end portions connected to the paired fingers opposed to each other, that is disposed on the finger-driving mechanism base so as to allow paths extending from the end portions to be opposed to each other so that, by pulling the wire in opposite directions with a same force, the paired opposed fingers are opened and closed; and an actuator that is disposed outside the hand, and used for operating the finger driving mechanism.