Patent ID: 8388035
Filing Date: 2013-03-05
Classification: B25J

Abstract:
1. A robot hand configured such that a plurality of finger mechanisms are disposed on a base and operate so as to cause fingertip portions thereof to get close to each other and separate from each other, wherein: at least one of the plurality of finger mechanisms comprises a Chebychev link mechanism including a driving link configured to be rotated about a base end portion thereof supported by the base, a driven link having a base end portion coupled to the base so as to be swingable, and an intermediate link having a base end portion coupled to a tip end portion of the driving link so as to be swingable and a center portion coupled to a tip end portion of the driven link so as to be swingable; and the fingertip portion is provided at a tip end portion of the intermediate link, wherein the driving link is configured to be rotatable in a predetermined angular range such that a movement trajectory of the fingertip portion of the finger mechanism constituted by the Chebychev link mechanism corresponds to a straight portion of a circumferential movement trajectory along which the intermediate link as the Chebychev link mechanism is able to move, and wherein the at least one of the plurality of finger mechanisms is capable of moving closer to or separate from at least one other of the plurality of finger mechanisms using the straight portion of the circumferential movement trajectory along its respective Chebychev link mechanism.