Patent ID: 7059645

Claim:
A palm mechanism for a robot hand comprising: a palm plate; at least a first and second finger units; a turning actuator fixed facing forward at a rear side of the palm plate, and a turning plate fixed perpendicularly to a rotational output shaft of the turning actuator; wherein the first and second finger units each comprise an actuator having a rotational output shaft, a finger main body, and a joint portion that links the rotational output shaft and the finger main body; the actuator of the first finger unit is fixed facing forward on the palm plate, and the joint portion and the finger main body project forward from a front surface of the palm plate, the actuator of the second finger unit is fixed facing forward on the turning plate, and the joint portion and the finger main body project forward from the front surface of the palm plate; the actuator is driven to allow the finger main body to be bent around the joint portion to a predetermined angle in a direction away from the front surface of the palm plate and in a direction toward the front surface of the palm plate from a center position that extends along the center axis of the rotational output shaft; and the turning actuator is driven to allow the second finger unit to be turned to a predetermined angle around a center axis of rotation of the turning actuator in a direction away from a position adjacent to the first finger unit.