KR20130110973A - Miniature robot hand - Google Patents

Abstract

PURPOSE: A miniature robot hand is provided to increase grasping power by arranging a rolling contact point close to the back of the robot hand and uniformly distribute the grasping power. CONSTITUTION: A miniature robot hand comprises a base member, fixed links, multiple joint links (10), linear operation members (20), and reel members. The joint links are successively connected to the fixed links in multiple stages, and rolling contact parts are formed on the touching portions thereof. The linear operation members connect the joint links for forming a finger to each other. The reel members generate movement for operating joints by reeling or unreeling the linear operation members.

Description

Mini Robot Hand {Miniature Robot Hand}

The present invention relates to a small robot hand, and more particularly, each node link is in contact with each other to form a joint and connect the joints in series to secure a wide driving range and to receive the pressure evenly of the joints It is related with the small robot hand which can be changed suitably according to the shape of an object.

Recently, researches on humanoid robots (androids and humanoids) and industrial robots that can take the place of humans have been actively conducted. In the case of such a humanoid robot or an industrial robot, it is necessary to implement a natural motor function in the end effector (robot hand) in order to effectively perform a given task.

Therefore, researches are being actively conducted on the joints and the operation of the robot hand having a plurality of fingers and a plurality of joint structures in order to perform a function closer to the human hand.

However, in the case of a humanoid robot or a small robot, it is common to install an actuator externally due to the volume constraint of the finger in the robot hand. Then, the motion generated from the actuator such as a motor is made to be transmitted to the finger joint through a power transmission device such as a wire or an elongated link or gear. Usually, a method of transmitting power by using a wire is mainly used.

In the conventional robot hand, two methods, a method using a pulley (or pulley) and a method using a Bowden cable, are used as a method for changing the path or direction of a drive wire.

The bowden cable is a driving method using a wire wrapped in a flexible sheath, and the bowden cable is frequently used for a brake cable of a bicycle or a vehicle. This method is easier to switch the path than the pulley.

And, in order to move one joint in both directions it is common to use a drive wire forming a loop (loop). Here, it is also possible to use a spring, but there is a problem that the spring is not stable.

When the drive wire is used, the overall length must always be kept constant regardless of the movement of the joint. Generally, a plurality of pulleys are used for this purpose, and as a result, as the number of joints increases, the structure becomes very complicated, which makes it difficult to miniaturize. Here, although it is also possible not to use a pulley, there is a problem in that the pin joint without the pulley does not maintain the length of the driving wire and the behavior becomes unstable.

An object of the present invention is to solve the above problems, to provide a compact robot hand configured to simplify the structure by configuring each joint to the contact of the cloud to enable miniaturization and to easily drive a number of connected joints will be.

Small robot hand according to an embodiment of the present invention is a base member constituting the base skeleton, and a fixed link is fixed to the base member and the upper surface is formed on the upper surface of the curved contact surface is formed in the upper end, and sequentially connected from the fixed link in multiple stages Curved rolling contact portions are formed at the portions that are installed and contact each other, so that the rolling contact is made, and the joints are operated by connecting a plurality of node links constituting each joint and a plurality of node links forming one finger of the node links. A plurality of linear actuating members for transmitting the movement, and a plurality of linear actuating members for winding and unwinding the linear actuating members as the opposite ends of the node links of the linear actuating members are fixed and rotated forward or reverse to generate motion for activating joints. It consists of a reel member.

In addition, the small robot hand according to the embodiment of the present invention is installed while the plurality of node links are in contact with each other in contact with each other, and the contact between the contact portion of the node links on both sides so as to make contact with both of the node links. It is also possible to further install an intermediate link to form a curved surface.

In the above, the point where the cloud contact between the nodes or the link between the link and the intermediate link is preferably located in the center closer to the back of the hand than the palm can increase the grip force.

The linear actuating member is formed using a material having elasticity, and can be selected and used from a wire, a rope, a belt, a Bowden cable, or the like.

The linear actuating member is installed such that an inner actuating member connecting the palm side of the node link and an outer actuating member connecting the back side of the node link are paired one by one.

The reel member is installed in two pairs of reels (reel) of different sizes, the inner working member connecting the palm side in one pair wound around a relatively large reel, the external operation of connecting the back of the hand The member is wound on a relatively small reel.

When configured as described above, in the pair of linear actuating members, the inner actuating member connecting the palm side is moved more than the outer actuating member connecting the back of the hand, so that the pair by winding on different reels, It is possible to move the inner operating member and the outer operating member at the same time.

In addition, the pair of linear actuating members are preferably set so that the gap between the inner actuating member and the outer actuating member becomes narrower toward the node link positioned at the distal end of the finger, so that the force can be evenly distributed when the object is grabbed. Do.

According to the small robot hand according to the embodiment of the present invention, since a plurality of node links constituting each joint for one finger in series, it is possible to ensure a wide driving range, a single finger or a plurality connected in series It is possible to drive with one actuator for the joint of.

According to the small robot hand according to the embodiment of the present invention, since the intermediate link is used between the node links, when the pulley is not used, as the driving angle of the joint increases, the linear actuating member severely bends the friction and the wear increases. It is possible to prevent the phenomenon from occurring, and to have a movement of about 90 degrees.

According to the small robot hand according to the embodiment of the present invention, since the point where the cloud contact is made close to the back of the hand, it is possible to increase the grip force grabbing the object.

In addition, according to the small robot hand according to the embodiment of the present invention, since the interval between the linear operating member toward the end closer to each other, it is possible to distribute the force evenly when grabbing the object.

Furthermore, in the small robot hand according to the embodiment of the present invention, by connecting the joints in series and using an intermediate link, it is possible to appropriately change the angles of the joints according to the shape of the object to be held by the hand. The pressure is evenly distributed and it is possible to hold the object gently.

Since the small robot hand according to the embodiment of the present invention does not use a pulley, it is possible to implement a simple and compact structure, and to control the operation of holding an object precisely and stably as in the case of using the pulley. .

1 is a perspective view schematically showing a state of pinching a finger in a small robot hand according to an embodiment of the present invention.
Figure 2 is a perspective view schematically showing a state in which the fingers all open in the small robot hand according to an embodiment of the present invention.
3 is a perspective view showing a state in which all of the joints of one finger in the small robot hand according to an embodiment of the present invention.
Figure 4 is a perspective view showing a state in which the bent two joints from the end by operating the linear operating member in the state of Figure 3 in the miniature robot hand according to an embodiment of the present invention.
FIG. 5 is a perspective view illustrating a state in which a small robot hand according to an embodiment of the present invention is bent by 90 degrees in a state in which all three joints are opened from the end by operating the linear operating member in the state of FIG. 3.
6 is a perspective view showing a state in which all three joints are bent from the end by operating the linear operating member in the state of FIG. 3 in the small robot hand according to the embodiment of the present invention.
FIG. 7 is a perspective view illustrating a state in which a small robot hand according to an embodiment of the present invention is inclined to the side in a state in which all three joints from the distal end are operated by operating the linear operating member in the state of FIG. 3.
8 is a perspective view showing a state in which all three joints are bent from the end by operating the linear operating member in the state of FIG. 7 in the small robot hand according to the embodiment of the present invention.
9 is a cross-sectional view showing a state in which the linear operating member is installed in the small robot hand according to an embodiment of the present invention.
10 is a partially enlarged cross-sectional view illustrating a state in which a stable rolling contact is implemented using a fixed elastic body in the small robot hand according to the exemplary embodiment of the present invention.
11 is a partially enlarged cross-sectional view illustrating a state in which a rolling contact is made in the small robot hand according to the embodiment of the present invention.

Next, a preferred embodiment of a small robot hand according to the present invention will be described in detail with reference to the drawings.

The present invention can be embodied in various forms and is not limited to the embodiments described below.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings, wherein like numerals refer to like elements throughout.

First, a small robot hand according to an embodiment of the present invention, as shown in Figures 1 to 3, the base member 80, the fixed link 60, a plurality of node links 10, a plurality of linear It comprises an operating member 20, a plurality of reel member (30).

The base member 80 is a member forming a base skeleton.

As shown in FIG. 2, the base member 80 may be formed in a plate shape to form a base along the shape of a palm.

The fixed link 60 is fixed to the base member 80.

The fixed link 60 is installed by setting the number corresponding to the number of fingers to be implemented.

For example, the fixed link 60 is installed only two if you want to implement a robot hand consisting of two fingers, four to install a robot hand consisting of four fingers.

1 and 2 show an example composed of four fingers.

Since the fixing link 60 is installed in the fixed state to the base member 80, it is also possible to form and install a plurality of integrally connected as one, it is also possible to form and install in a state separated from each other.

An upper end of the fixed link 60 toward the node link 10 is formed with a rolling contact portion 64 having an upper surface.

The curved surface formed on the upper surface of the cloud contact portion 64 may be formed in a shape having a semi-circular cross section, or may be formed in a shape having a portion of a circle or a portion of an ellipse in a cross section.

Furthermore, the curved surface of the rolling contact portion 64 can be formed with various curvatures.

The node link 10 is installed in multiple stages sequentially from the fixed link (60).

For example, when it is comprised by the structure corresponding to a human finger, it is also possible to arrange and install the node link 10 in three steps.

When the node link 10 is configured in three stages as described above, one end link 16 adjacent to the fixed link 60, the end node link 12 positioned at the far end, and the intermediate intermediate position It consists of a node link (14).

In the above, when the node link 10 is configured in three stages to implement a finger having three joints, three node links 12, 14, and 16 have been described as an example. In the case of implementing the above, it is possible to further install two or more intermediate node links 14.

The node link 10 each constitutes one joint.

The contact portions 18 of the node link 10 are formed to have a rolling contact portion 18 having a curved surface to make a rolling contact.

The curved surface formed on the cloud contact portion 18 may be formed in a shape having a semi-circular cross section, or may be formed in a shape having a portion of a circle or a portion of an ellipse in a cross section.

Furthermore, the curved surface formed on the cloud contact portion 18 can be formed with various curvatures.

As shown in FIG. 10, it is preferable to use a fixed elastic body 19 so that the rolling contact portions 18 having curved surfaces can be continuously and repeatedly contacted in a smooth and stable state.

For example, the fixed elastic body 19 is installed and supported so that the elastic force acts while penetrating the center of the rolling contact portion 18 so that the rolling contact portions 18 of both node links 10 come into contact with each other. .

The fixed elastic body 19 may be made of a superelastic material such as a spring, a rubber band, a silicon band, a steel wire having excellent elasticity (for example, a wire made of spring steel), a wire rope or cable made by twisting a plurality of wires, and nitinol. Materials having excellent elasticity and mechanical strength, such as manufactured wires and bands, can be used.

The fixed elastic body 19 is preferably configured using a material having excellent flexibility in the radial direction. However, when the radial elasticity of the fixed elastic body 19 is too large, such as a yarn, it is difficult to effectively suppress the slippage or detachment of the rolling surface, it is important to maintain the flexibility of the metal wire.

When the fixed elastic body 19 is used as described above, as shown by the dashed-dotted line in FIG. 10, even when rolling occurs while the rolling contact is made in contact with the rolling contact portions 18, the rolling contact surface does not shift or slip. Instead, the rotation and the return of the predetermined angle are effectively performed in a stable state at all times.

In addition, the rolling contact portion 18 may implement a rolling contact without slip by using a gear, a rollerite, and the like.

As shown in FIG. 11, the rolling contact portion 18 of the node link 10 and the rolling contact portion 64 of the fixed link 60 have a radius of curvature R having a curved contact portion 18, 64. It is preferable to form and set (R≥B) so as to be equal to or greater than the protruding height (B).

If set (R≥B) as described above, it is possible to move a plurality of joints connected at the same angle at the same time by using the elasticity of the linear actuating member 20.

In addition, even when the intermediate link 40 is inserted and installed between the plurality of node links 10 in contact with each other, even when the pulley is not used, the linear operating member 20 increases as the driving angle of the joint increases. It is possible to prevent the phenomenon that wear is caused by severe bending by large friction. In addition, the bending angle of the link 10 may be configured to have a movement of about 90 degrees.

The intermediate link 40 is formed in a shape having a curved surface on both sides to make a cloud contact with both nodes link 10.

In the above, both ends of the circular contact or the ellipse, the entire circular cross section on both sides toward the rolling contact portion 18 of the node link 10 of the intermediate link 40 or the rolling contact portion 64 of the fixed link 60 It is possible to form a part where rolling contact is made with various curved surfaces, such as the cross section of the shape superimposed on the.

The intermediate link 40 is fixed between the first link 16 and the intermediate link 14, between the intermediate link 14 and the terminal link 12, and fixed to the end link 16 It is installed between the links 60, respectively.

Since the specific configuration of both curved surfaces and the portions in which the rolling contact is formed in the intermediate link 40 can be implemented in the same configuration as the rolling contact portion 18 of the node link 10, detailed description thereof will be omitted. .

The point where the contact between the nodes 10 or the link between the link 10 and the intermediate link 40 is made, as shown in Figure 9, it is arranged to be located closer to the back of the hand than the palm in the center as shown in FIG. It is preferable because it can increase.

In other words, since the spreading force of the finger is not very important, it is possible to increase the grip force by configuring the point where the rolling contact is made to the back of the hand.

As shown in FIGS. 2 and 3, the rotary link 50 may be further provided between the node link 16 and the fixed link 60 so as to tilt the finger in an inclined direction from side to side.

It is also possible to install an intermediate link 40 (an intermediate link 40, which is installed between the node 16 and the fixed link 60 once) between the one end link 16 and the rotary link 50. Do.

Node contact portion 52 having a curved surface protruding in the opposite direction on the upper surface (the node link 10 side) and the lower surface (the fixed link 60 side) of the rotary link 50 is rotated 90 degrees to each other And a fixed contact portion 54 are formed.

The node contact portion 52 is configured to make a rolling contact with the intermediate link 40 in contact with the end link 16 in the cloud, and the fixed contact portion 54 is configured to make a rolling contact with the fixed link 60.

The rolling contact portion 64 of the fixed link 60 is configured to make a rolling contact with the fixed contact portion 54.

In addition, the rolling contact portion 64 of the fixed link 60 is formed in a direction rotated 90 degrees with the rolling contact portion 18 of the node link 10.

When the rotary link 50 is installed as described above, as shown in FIG. 7, it is possible to tilt the finger to the left and right as a whole.

Also in the rotary link 50, the concrete contact portion 52 and the fixed contact portion 54 has the same configuration as the rolling contact portion 18 of the node link 10 and the rolling contact portion 64 of the fixed link 60. Since it is possible to implement in the configuration of, the detailed description is omitted.

And, as shown in FIG. 3, the linear actuating member 20 includes a plurality of node links (for example, the node link 16 and the intermediate node link 1) forming one finger of the node link 10. 14), distal end link (12) is connected to transfer the motion to operate the joint.

The linear actuating member 20 is formed using a material having elasticity, and can be selected and used from a wire, a rope, a belt, a Bowden cable, or the like.

In this embodiment, a Bowden cable is used as the linear operation member 20.

As shown in FIG. 3, the linear actuating members 20 are provided in pairs two by one, and are installed in one or a plurality of pairs.

For example, the linear actuating member 20 connects the inner actuating members 21, 23, and 25 to connect the palm side of the node link 10, and the back of the hand of the node link 10. The external operation members 22, 24, and 26 to be connected are installed to correspond to each other in pairs.

In the above, the inner operating member 21 and the outer operating member 22 extend to the ends of the terminal link 12, respectively, and one end is fixedly installed. That is, the inner operating member 21 and the outer operating member 22 are installed to extend to the end node link 12 through the one end link 16 and the middle node link 14 in sequence.

The inner operating member 21 and the outer operating member 22 are installed to pass through the central portions of the palm side and the back of the hand of the node link 10, respectively.

The inner actuating members 23, 25 and the outer actuating members 25, 26 extend to the ends of the one end link 16, respectively, and one end is fixedly installed.

The pair of inner operating member 23 and the outer operating member 24 and the pair of the inner operating member 25 and the outer operating member 26 are installed at the corners in the diagonal direction of the node link 16 at one end. .

For example, the inner actuating member 23 is installed at the left edge of the palm of the node link 16, and the outer actuating member 24 is the right corner of the back of the hand of the node link 16. Install on. In addition, the inner operation member 25 is installed at the right edge of the palm side of the end link 16, the outer operation member 26 is installed at the left corner of the back of the hand of the end link 16.

Once the pair of the inner operating member 23, 25 and the outer operating member 24, 26 to be paired in a diagonal direction to each other on the left and right sides of the bar link 16, as described above When the rotary link 50 is installed, it is possible to implement an operation of inclining at an angle to the left and right of the finger.

Therefore, when the rotary link 50 is not installed or when the left and right tilting operation of the finger is not implemented, it is also possible to install only a pair of linear actuating members 20 at the center portion of the node link 16.

And, as shown in Figure 3, the opposite end of the bar link 10 of the linear actuating member 20 is fixed to the reel member (30).

The opposite side fixed to the node link 10 of the linear actuating member 20 extends and is fixed to the reel member 30 via the rotary link 50 and the fixing link 60.

The reel member 30 is fixed to a specific part of the robot, such as the base member 80.

The reel member 30 performs a function of generating a motion for operating the joint by winding or releasing the linear actuating member 10 in the forward or reverse rotation.

The reel member 30 is installed in a pair of two reels (reel) of different sizes.

For example, as shown in FIG. 3, the reel member 30 is rotatable to the reel support 31 and the reel support 31 fixedly installed at a specific portion of the robot, such as the base member 80. Rotating shaft 32 and a pair of large diameter reel (33) and small diameter reel (34) installed on the rotating shaft 32 is formed.

In the reel member 30, the number of pairs of a large diameter reel 33 having a relatively large diameter and a small diameter reel 34 having a relatively small diameter is equal to an internal operating member in the linear operating member 20. It is possible to install corresponding to the number of pairs of 21, 23, 25 and the pair of external actuating members 22, 24, 26.

The inner operating members 21, 23, and 25 connecting the palm side in one pair of linear operating members 20 are wound on a relatively large diameter reel 33 and connect the back of the hand. The external actuating members 22, 24 and 25 are wound around a relatively small diameter reel 34.

When configured as described above, in the pair of linear actuating member 20, the inner actuating member 21, 23, 25 for connecting the palm side, the outer actuating member 22 for connecting the back of the hand, Since it moves more than (24) and (26), it is wound by the large diameter reel 33 and the small diameter reel 34 of a different size, and a pair of internal operation members 21, 23, 25 are carried out. It is possible to simultaneously move the and external operating members 22, 24, 26.

And, as shown in Figure 9, the pair of linear actuating members 21, 22 is toward the end node link 12 which is located at the distal end of the finger toward the inner actuating member 21 and the outer actuating member 22 It is preferable to set and install so that the space | interval between () becomes narrow, since the force can be distributed evenly when grabbing an object.

Next will be described the operation of the small robot hand according to an embodiment of the present invention configured as described above.

First, as shown in FIG. 3, the fingers with all the joints extended in the form of one (1) characters, as shown in FIG. 4, the inner operating member 21 and the outer operating member ( When the reel member 30 wound around 22 is wound in the inner operating member 21 and the outer operating member 22 is rotated in a releasing direction (for example, in a forward direction), the end node link 12 is bent in a bending direction. The force is actuated, and once the node link 16 is operated in a vertically closed state, the terminal node link 12 and the intermediate node link 14 are simultaneously retracted.

Further, as shown in FIG. 3, the fingers with all the joints extended in the form of one (1) characters, as shown in FIG. 5, with the inner operation members 23 and 25 extending to the one end link 16. The reel member 30 on which the external actuating members 24 and 26 are wound is wound around the inner actuating members 23 and 25 at the same time and the outer actuating members 24 and 26 are simultaneously released. For example, when rotating in the forward direction, the force is applied to the one end of the node link 16 in a bending direction, and the end node 12, the intermediate node link 14, and the one end link 16 are in a state in which they are located in a straight line. Once the node link 16 is bent and operated in a horizontally changing state.

And, as shown in FIG. 3, the fingers with all the joints extended in the form of one (1) characters, as shown in FIG. 6, the inner operating member 21 and the outer operating member ( A reel member 30 in which 22 is wound, and a reel member 30 in which the inner actuating members 23, 25 and the outer actuating members 24, 26, which extend to the end link 16, are wound. ), The inner actuating members 21, 23, 25 are wound simultaneously and the outer actuating members 22, 24, 26 rotate simultaneously in the unwinding direction (e.g., in the forward direction). The force acts in the bending direction of the linkage 16 so that the linkage 16 is bent and operated in a horizontally changing state, and at the same time, the force acts in the direction of bending the end linkage 12 as well. The terminal node 12 and the intermediate node link 14 are operated at the same time to retract.

That is, in the case of FIG. 6, the node 16 is once closed up to 16.

In addition, as shown in FIG. 3, the fingers with all the joints stretched out in the form of one (1) characters, as shown in FIG. 7, with the inner operating member 23 at the left corner extending to the one end link 16. The reel member 30, on which the external operating member 24 is wound, rotates the internal operating member 23 and the external operating member 24 in a release direction (for example, in a forward direction), and at the same time, the one end link 16 The reel member 30 in which the inner operating member 25 and the outer operating member 26 are wound up to the right edge thereof extends to), and the inner operating member 25 is released and the outer operating member 26 is wound in the winding direction ( For example, in the reverse direction, a force is applied to the first link 16 in a direction inclined to the left, and the terminal link 12 and the intermediate link 14 and the first link 16 are connected to each other. In a state of being in a straight line, the node link 16 is tilted to the left once It is operated in a state of a ramp change.

And, as shown in FIG. 3, the fingers with all the joints stretched out in the form of one (1) characters, as shown in FIG. 8, with the inner operating member 23 on the left edge side extending to the first link 16. The reel member 30, on which the external operating member 24 is wound, rotates the internal operating member 23 and the external operating member 24 in a release direction (for example, in a forward direction), and at the same time, the one end link 16 The reel member 30 in which the inner operating member 25 and the outer operating member 26 are wound up to the right edge thereof extends up to), and the inner operating member 25 is wound and the outer operating member 26 is unwinded. For example, the inner operating member 21 is wound around the reel member 30 which is rotated in the forward direction) and the inner operating member 21 and the outer operating member 22 wound up to the end node link 12 are wound. When the operating member 22 is rotated in the release direction (for example, the forward direction), the work The force acts in the direction inclined to the left side to the node link 16, the end link 12, the intermediate link 14 and the first link 16 in the state that the link is placed in a straight line once the link 16 Is inclined to the left to operate in an inclined state, the force is applied to the terminal link 12 in the bending direction, the terminal link 12 and the intermediate link 14, once the link 16 Is operated by simultaneously closing).

The reel member 30 wound up as a pair of the internal operating member 23 and the external operating member 24 rotates faster, and the internal operating member 25 and the external operating member 26 are relatively paired. The reel member 30 wound up is changed inclined by operating to rotate more slowly.

Alternatively, the reel member 30 wound as a pair of the inner operating member 25 and the outer operating member 26 may be maintained in a non-rotating state.

In the above, a preferred embodiment of a small robot hand according to the present invention has been described in detail with reference to the drawings. However, the present invention is not limited thereto, and various modifications can be made within the scope of the claims, the specification, and the accompanying drawings. This also belongs to the scope of the present invention.

10-node links, 12-terminal node links, 14-intermediate node links
16-single link, 18-rolling contact, 19-fixed elastomer
20-linear operating member, 21,23,25-internal operating member, 22,24,26-external operating member
30-reel member, 31-reel support, 32-shaft, 33-large diameter reel, 34-small diameter reel
40-intermediate link, 50-rotary link, 52-node contact, 54-fixed contact
60-fixed link, 64-rolling contact, 80-foundation

Claims (12)

A base member forming a base skeleton,
A fixed link fixed to the base member and having a rolling contact portion having an upper surface curved at an upper end thereof;
A plurality of joint links, which are installed in multiple stages sequentially from the fixed link and are in contact with each other, have a rolling contact portion having a curved surface to make a cloud contact, and constitute each joint;
A plurality of linear actuating members which connect a plurality of node links forming one finger of the node links to transmit a motion to operate the joint;
And a plurality of reel members for generating movement for activating a joint by winding or releasing the linear actuating member as the opposite end of the linkage of the linear actuating member is fixed and rotates forward or reverse. The method according to claim 1,
Small robot hand further comprises an intermediate link is inserted between the plurality of nodes link is made in contact with each other and the rolling contact portion having a curved surface on each side so as to make a rolling contact with the rolling contact portion of both nodes link. . The method according to claim 2,
Small robot hand is disposed so that the point where the contact between the nodes or the link between the link and the intermediate link is located closer to the back of the hand than the palm from the center. The method according to claim 2,
A rotary link is further installed between the node link and the fixed link once positioned on the base member side of the node link,
The intermediate link is installed between the first link and the rotary link,
On the one side of the link portion and the side of the fixed link of the rotary link is formed a node contact portion and the fixed contact portion is a surface protruding in the opposite direction, respectively in a state rotated 90 degrees to each other,
The node contact portion is configured to make a rolling contact with the intermediate link in the cloud contact with the first link,
The fixed contact portion is configured to make a rolling contact with the rolling contact portion of the fixed link,
The rolling contact portion of the fixed link is a small robot hand configured to be positioned in a direction rotated 90 degrees to each other and the portion where the rolling contact of the node link is made. The method of claim 4,
The radius of curvature R of the curved surface where the rolling contact portion of the node link, the rolling contact portion of the fixed link, the node contact portion and the fixed contact portion of the rotary link respectively protrude, respectively, protruding height B of the rolling contact portion, the node contact portion, and the fixed contact portion B; Small robot hand which is formed by setting equal to or larger than) (R≥B). The method according to claim 2,
A small robot hand for connecting between the node link is made in the contact with the elasticity using a fixed elastic body. The method according to any one of claims 1 to 6,
The linear actuating member is formed using a material having elasticity, and a small robot hand used by selecting from a wire, a rope, a belt, a Bowden cable. The method of claim 7,
The pair of linear actuating member is a miniature robot hand installed by setting so that the gap between the inner actuating member and the outer actuating member becomes narrower toward the node link located at the distal end of the finger. The method according to any one of claims 1 to 6,
The linear actuating member is a small robot hand installed so that an inner actuating member connecting the palm side of the node link and an outer actuating member connecting the back side of the node link are paired one by one. The method according to claim 9,
The reel member is installed in two pairs of reels (reel) of different sizes, the inner working member connecting the palm side in one pair wound around a relatively large reel, the external operation of connecting the back of the hand A small robot hand that winds up a member on a relatively small reel. The method of claim 10,
One pair of the linear actuating member is installed to extend from the node link consisting of the multi-stage link to the end link, and the other pair of miniature robot hand to extend to install the link to the link. The method of claim 11,
The pair of linear actuating members, which extends to the node link, is installed so that the inner actuating member and the outer actuating member in a diagonal direction are paired with each other.

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