Patent ID: 8910984
Filing Date: 2014-12-16
Classification: B25J,Y10S

Abstract:
1. A robot hand comprising: a plurality of joint portions that rotates about respective rotation axes parallel with each other; a plurality of links that is connected via the joint portions; a linking member that links rotations of the joint portions adjacent to each other; a single drive source that drives and rotates one of the plurality of joint portions which is located at a proximal end to rotate the joint portions; and an urging member that has a predetermined urging force adjusted in advance based on weights and lengths of the plurality of links so that the joint portions rotate in sequence from the proximal end to a distal end, the urging member urging one of the plurality of links, which is moved by the joint portion at the proximal end, in a gripping direction with the predetermined urging force, wherein, when one link of the plurality of links is restricted in movement in the gripping direction as a result of contact thereof with a workpiece as an object to be held while the workpiece is being held, one of the joint portions, which is connected to a distal end of the one link, rotates relative to the one link for moving another link adjacent to the one link among the plurality of links.