Patent ID: 8167345

Claim:
A robot hand comprising: a left first link and a right first link for turning in a first direction and a second direction, opposite the first direction, about a left first fulcrum and a right first fulcrum, respectively, in bilaterally symmetric positions, the left first link and the right first link each extending in a longitudinal direction; a left second link and a right second link for turning in a third direction and a fourth direction opposite the third direction about a left second fulcrum and a right second fulcrum, respectively, in bilaterally symmetric positions behind the left first fulcrum and the right first fulcrum, the left second link and the right second link each extending in the longitudinal direction; a left middle link having one end linked to a left first rotable connection at an end of the left first link behind the left first fulcrum, and another end linked to a left second rotable connection at an end of the left second link in front of the left second fulcrum , the left middle link being composed of an elastic member for expanding and contracting in a direction in which the left first rotable connection and left second rotable connection approach and separate in a lateral direction; a right middle link having one end linked to a right first rotable connection at one end of the right first link behind the right first fulcrum, and another end linked to a right second rotable connection at an end of the right second link in front of the right second fulcrum, the right middle link being composed of an elastic member for expanding and contracting in a direction in which the right first rotable connection and right second rotable connection approach and separate in the lateral direction; a left third link having one end linked to a left third rotable connection at another end of the left second link behind the left second fulcrum for rectilinear movement in the lateral direction; a right third link having one end linked to a right third rotable connection at another end of the right second link behind the right second fulcrum for rectilinear movement in the lateral direction; and a drive mechanism for moving the left third link and the right third link back and forth in a rectilinear manner in opposite directions.