Patent ID: 8690212
Filing Date: 2014-04-08
Classification: B25J

Abstract:
1. A robot hand comprising: a frame; a first link member which moves relative to the frame; a second link member which moves relative to the first link member; a first joint unit provided between the frame and the first link member and is operable to move the first link member; a second joint unit provided between the first link member and the second link member and is operable to move the second link member; a power transmission unit connecting the first joint unit and the second joint unit and is operable to transmit power from the first joint unit to the second joint unit; a first drive unit supplying power to the first joint unit so as to operate the first joint unit and thereby move the first link member relative to the frame, and to thereby cause the power transmission unit to operate and thereby cause power to be transmitted from the first joint unit to the second joint unit to operate the second joint unit and thereby move the second link member relative to the first link member; and a backlash removal unit supplying constant torque to the first joint unit and supplying constant torque to the second joint unit, even if relative positions of the first link member and the second link member to the frame are changed as the first link member and the second link member are moved as a result of the power supplied by the first drive unit.