CN112955289B - 机械手装置 - Google Patents

机械手装置 Download PDF

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Publication number
CN112955289B
CN112955289B CN201980071306.7A CN201980071306A CN112955289B CN 112955289 B CN112955289 B CN 112955289B CN 201980071306 A CN201980071306 A CN 201980071306A CN 112955289 B CN112955289 B CN 112955289B
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China
Prior art keywords
finger
finger mechanism
bending
wire
lines
Prior art date
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Active
Application number
CN201980071306.7A
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English (en)
Chinese (zh)
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CN112955289A (zh
Inventor
关达也
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mertin Corp
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Mertin Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication of CN112955289A publication Critical patent/CN112955289A/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Program-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rheumatology (AREA)
  • Manipulator (AREA)
CN201980071306.7A 2018-11-20 2019-11-12 机械手装置 Active CN112955289B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018217223 2018-11-20
JP2018-217223 2018-11-20
PCT/JP2019/044303 WO2020105504A1 (ja) 2018-11-20 2019-11-12 ロボットハンド装置

Publications (2)

Publication Number Publication Date
CN112955289A CN112955289A (zh) 2021-06-11
CN112955289B true CN112955289B (zh) 2024-12-03

Family

ID=70773306

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980071306.7A Active CN112955289B (zh) 2018-11-20 2019-11-12 机械手装置

Country Status (5)

Country Link
US (1) US12090636B2 (https=)
EP (1) EP3878609B1 (https=)
JP (2) JP7087224B2 (https=)
CN (1) CN112955289B (https=)
WO (1) WO2020105504A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3100148B1 (fr) * 2019-09-04 2023-06-16 Centre Nat Rech Scient main robotique
CN110842962B (zh) * 2019-12-02 2021-03-12 深圳忆海原识科技有限公司 32自由度仿生柔顺内骨骼灵巧手
CN113084851B (zh) * 2021-04-22 2022-06-28 常州工学院 一种拟人手指机构
JPWO2023105926A1 (https=) * 2021-12-06 2023-06-15
JP7831825B2 (ja) * 2022-02-16 2026-03-17 Ｎｅｃプラットフォームズ株式会社 ロボットハンド装置及びロボットハンド動作方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011245575A (ja) * 2010-05-25 2011-12-08 Univ Of Tokyo ロボットハンド及びロボットシステム
WO2017038836A1 (ja) * 2015-08-28 2017-03-09 国立大学法人九州大学 ロボットハンド及びこれを操作するためのマスタ

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Publication number Priority date Publication date Assignee Title
US4921293A (en) * 1982-04-02 1990-05-01 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Multi-fingered robotic hand
JPH02145282A (ja) * 1988-11-25 1990-06-04 Agency Of Ind Science & Technol 人間類似型上肢機構
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
US5200679A (en) * 1990-02-22 1993-04-06 Graham Douglas F Artificial hand and digit therefor
US5080682A (en) * 1990-07-05 1992-01-14 Schectman Leonard A Artificial robotic hand
US7673916B2 (en) 2005-08-08 2010-03-09 The Shadow Robot Company Limited End effectors
JP5224227B2 (ja) * 2006-07-16 2013-07-03 浩史 横井 全指可動型義手
JP2008264896A (ja) 2007-04-17 2008-11-06 Toyota Motor Corp ロボットハンド
WO2010064684A1 (ja) * 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 ロボットハンド
US8052185B2 (en) 2009-04-09 2011-11-08 Disney Enterprises, Inc. Robot hand with humanoid fingers
US8483880B2 (en) * 2009-07-22 2013-07-09 The Shadow Robot Company Limited Robotic hand
KR102369012B1 (ko) * 2009-09-16 2022-02-28 가부시키가이샤 한도오따이 에네루기 켄큐쇼 발광 장치 및 이의 제조 방법
EP2642953B1 (en) * 2010-11-22 2016-03-09 Vanderbilt University Control system for a grasping device
JP5921225B2 (ja) * 2011-07-20 2016-05-24 株式会社岩田鉄工所 多指ハンド装置
WO2014027897A1 (en) * 2012-08-12 2014-02-20 5Th Element Limited A gripping device
CN203077298U (zh) * 2013-03-08 2013-07-24 长春工业大学 欠驱动五指机械手
GB2519993B (en) * 2013-11-04 2017-05-10 The Shadow Robot Company Ltd Robotic hand
FR3016542B1 (fr) 2014-01-22 2019-04-19 Aldebaran Robotics Actionnement d'une main destinee a equiper un robot a caractere humanoide
FR3027246B1 (fr) * 2014-10-16 2019-04-12 Centre National De La Recherche Scientifique (Cnrs) Doigt robotique modulaire pour la prehension et la manipulation dextre
WO2016182421A1 (es) * 2015-05-08 2016-11-17 Amezcua Peregrina Miguel Mano protésica multiarticulada motorizada y controlable completamente por el usuario
ITUA20164364A1 (it) * 2016-06-14 2017-12-14 Iuvo S R L Catena cinematica per la trasmissione di coppie meccaniche
IT201600120646A1 (it) * 2016-11-29 2018-05-29 Giovanni Antonio Zappatore Mano robotica sottoattuata

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011245575A (ja) * 2010-05-25 2011-12-08 Univ Of Tokyo ロボットハンド及びロボットシステム
WO2017038836A1 (ja) * 2015-08-28 2017-03-09 国立大学法人九州大学 ロボットハンド及びこれを操作するためのマスタ

Also Published As

Publication number Publication date
JP2022084909A (ja) 2022-06-07
WO2020105504A1 (ja) 2020-05-28
JP7087224B2 (ja) 2022-06-21
US12090636B2 (en) 2024-09-17
JPWO2020105504A1 (ja) 2021-09-27
US20210268664A1 (en) 2021-09-02
JP7506703B2 (ja) 2024-06-26
EP3878609A1 (en) 2021-09-15
EP3878609B1 (en) 2024-10-30
EP3878609C0 (en) 2024-10-30
EP3878609A4 (en) 2022-01-19
CN112955289A (zh) 2021-06-11

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Effective date of registration: 20240823

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Country or region after: Japan

Address before: Tokyo, Japan

Applicant before: Melting human machine interface Co.,Ltd.

Country or region before: Japan

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