公开(公告)号：US08388035B2

公开(公告)日：2013-03-05

申请号：US13054307

申请日：2009-07-17

申请人： Masayuki Kamon ,  Sadao Kubo ,  Yuuki Takayama ,  Hitoshi Hasunuma

发明人： Masayuki Kamon ,  Sadao Kubo ,  Yuuki Takayama ,  Hitoshi Hasunuma

IPC分类号： B25J15/08

CPC分类号： B25J15/022 ,  B25J15/0266

摘要： A robot hand is configured such that a plurality of finger mechanisms are disposed on base and operate so as to cause fingertip portions thereof to get close to each other and separate from each other. At least one of the plurality of finger mechanisms is constituted by 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. The fingertip portions are respectively provided at tip end portions of the intermediate links.

摘要翻译： 机器人手构造成使得多个指状机构设置在基部上并且操作以使其指尖部彼此靠近并且彼此分离。 所述多个指状机构中的至少一个由切比克夫连杆机构构成，该切比赫夫连杆机构包括驱动连杆，所述驱动连杆构造成围绕由所述底座支撑的基端部旋转，所述从动连杆具有连接到所述基座的基端部， 以及中间连杆，其具有联接到所述驱动连杆的前端部以便可摆动的基端部分，以及联接到所述从动连杆的顶端部分以便可摆动的中心部分。 指尖部分分别设置在中间连杆的前端部。

公开(公告)号：US20110115244A1

公开(公告)日：2011-05-19

申请号：US13054307

申请日：2009-07-17

申请人： Masayuki Kamon ,  Sadao Kubo ,  Yuuki Takayama ,  Hitoshi Hasunuma

发明人： Masayuki Kamon ,  Sadao Kubo ,  Yuuki Takayama ,  Hitoshi Hasunuma

IPC分类号： B25J15/08

CPC分类号： B25J15/022 ,  B25J15/0266

摘要： A robot hand is configured such that a plurality of finger mechanisms are disposed on base and operate so as to cause fingertip portions thereof to get close to each other and separate from each other. At least one of the plurality of finger mechanisms is constituted by 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. The fingertip portions are respectively provided at tip end portions of the intermediate links.

摘要翻译： 机器人手构造成使得多个指状机构设置在基部上并且操作以使其指尖部彼此靠近并且彼此分离。 所述多个指状机构中的至少一个由切比克夫连杆机构构成，该切比赫夫连杆机构包括驱动连杆，所述驱动连杆构造成围绕由所述底座支撑的基端部旋转，所述从动连杆具有连接到所述基座的基端部， 以及中间连杆，其具有联接到所述驱动连杆的前端部以便可摆动的基端部分，以及联接到所述从动连杆的顶端部分以便可摆动的中心部分。 指尖部分分别设置在中间连杆的前端部。