JPS59140189U - robot manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of drawings]

FIG. 1 is a schematic plan view showing a conventional two-degree-of-freedom two-finger manipulator, FIG. 2 is a schematic plan view showing a one-degree-of-freedom two-finger manipulator according to this invention, and FIG. 4 is a sectional view taken along the line B-B in FIG. 2, FIG. 5 is a block diagram showing the configuration of the control surface path, and FIG. 6 is a diagram showing various aspects of the manipulator. a indicates a fully closed state;
Figures b to d are diagrams showing grasping states when the shape of the object to be grasped becomes larger sequentially, and Fig. 7 is a diagram for deriving a calculation formula for determining the rotation angle of the finger for an object to be grasped with a known shape. be.

Claims (2)

[Scope of utility model registration request] (1) A first finger consisting of one link rotatably attached to the base body via a base joint; a base link rotatably attached to the base body via a base joint, and the tip of this base link; A second finger consisting of a fingertip link rotatably attached to the side via a tip joint; the root joint of the first finger and the root joint of the root link are connected, and the first finger and the root link are fixed in a predetermined position. An interlocking mechanism that connects the root joint and the tip joint of the root link and rotates the fingertip link so as to keep it parallel to the first finger; A robot manipulator characterized by comprising; (2) The manipulator for a robot according to claim 1, wherein a circular arc-shaped gripping portion is formed at the tip of the first finger.