WO2005102619A1 - 指ユニットおよび多指型把持機構 - Google Patents
指ユニットおよび多指型把持機構 Download PDFInfo
- Publication number
- WO2005102619A1 WO2005102619A1 PCT/JP2004/004564 JP2004004564W WO2005102619A1 WO 2005102619 A1 WO2005102619 A1 WO 2005102619A1 JP 2004004564 W JP2004004564 W JP 2004004564W WO 2005102619 A1 WO2005102619 A1 WO 2005102619A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- finger
- joint
- fingertip
- unit
- shaft
- Prior art date
Links
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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
Definitions
- the present invention provides a finger unit used for a robot hand or the like suitable for gripping parts made of various shapes and materials and performing various kinds of work, and a multi-unit having a plurality of finger units.
- the present invention relates to a finger-type gripping mechanism. Background art
- the gripping mechanism of a robot hand is generally configured to have a plurality of articulated finger units. By driving each finger unit simultaneously or individually, it is possible to grip components, move components, and mount components.
- an object of the present invention is to propose a gripping mechanism having a highly versatile gripping function.
- Another object of the present invention is to propose a gripping mechanism having a highly versatile work function.
- an object of the present invention is to propose a finger unit suitable for use in a grip mechanism having a high versatility and a grip mechanism having a work function.
- the present invention provides a
- a finger base, a finger tip, and a link connecting the finger base and the finger tip Having a node,
- the joint section supports the fingertip so as to be pivotable about a joint axis orthogonal to a center axis of the fingertip section,
- the finger base includes a joint driving actuator for rotating the fingertip around the joint axis.
- the joint has a torque detecting unit such as a strain gauge for detecting torque transmitted through the joint.
- the finger base may be configured to include the joint driving actuator and a mounting flange to which the joint driving actuator is mounted.
- the joint portion includes a drive-side bevel gear fixed coaxially to a tip end of a rotation output shaft of the joint-drive actuator, and projects forward from a front surface of the mounting flange through both sides of the drive-side bevel gear.
- a pair of bearing housings, bearings mounted on each bearing housing, and both ends are rotatably supported by these bearings, and are orthogonal to a central axis of a rotation output shaft of the joint driving actuator.
- a driven bevel gear fixed coaxially to the joint shaft and engaged with the driving bevel gear; one end fixed to the joint shaft; And a connecting member extending in a direction orthogonal to the above.
- the turning member of the fingertip may be connected to the connecting member.
- the joint shaft is a hollow joint shaft having a hollow portion for wiring.
- connection member 4 004564 the light transmitted through the connection member to the side surface of the connection member 4 004564
- the rotating member of the fingertip may be an outer cylinder of the fingertip.
- a working tool such as a drill and a driver bit can be attached to the rotating member of the fingertip portion in a coaxial state.
- the present invention relates to an articulated finger unit
- the finger base side joint section supports the finger middle section so as to be pivotable about a finger base side joint axis orthogonal to a center axis of the finger middle section, and the finger base section includes the finger base.
- a finger root joint driving actuator for rotating the intermediate portion around the finger root joint axis;
- the fingertip-side joint portion supports the fingertip portion so as to be pivotable about a fingertip-side joint axis orthogonal to a center axis of the fingertip portion,
- the finger middle portion includes a fingertip-side joint drive actuator for turning the fingertip portion around the fingertip-side joint axis.
- the fingertip side joint and the finger base side joint are provided with a torque detecting unit such as a strain gauge for detecting a torque transmitted through each.
- a plurality of finger middle portions are connected as the finger middle portions, and the finger middle portions are connected to each other.
- the intermediate joint portion is used to move the finger intermediate portion on the fingertip side around a joint axis orthogonal to the center axis of the finger intermediate portion. It adopts a configuration that supports the pivotable state and has an intermediate joint driving actuator for rotating the finger intermediate portion on the fingertip side around the joint axis as the finger intermediate portion on the finger base side. I'll do it.
- the intermediate joint also includes a torque detecting unit such as a strain gauge that detects torque transmitted through the intermediate joint.
- a torque detecting unit such as a strain gauge that detects torque transmitted through the intermediate joint.
- the finger base portion may be configured to include a mounting flange and the finger base side joint driving actuator mounted on the mounting flange.
- a pair of bearing housings projecting forward through both side positions of the gear, bearings attached to each bearing housing, and both ends rotatably supported by these bearings; the finger root side joint driving actuator A joint shaft arranged in a direction perpendicular to the center axis of the rotary output shaft, and a driven side fixed coaxially to an outer peripheral surface of the joint shaft and meshing with the drive-side bevel gear.
- a bevel gear and a connecting member fixed at one end to the joint shaft and extending in a direction perpendicular to the joint shaft can be provided.
- the turning member at the middle of the finger is connected to the connecting member. It is preferable that a strain gauge for detecting torque transmitted through the connecting member is attached to a side surface of the connecting member. Furthermore, it is desirable that the joint shaft is a hollow joint shaft having a hollow portion for wiring.
- the fingertip-side joint is coaxial with the tip of the rotation output shaft of the fingertip-side joint driving actuator that protrudes toward the fingertip from the middle part of the finger. JP2004 / 004564
- a pair of bearing housings connected to the turning member at the middle of the finger, and protruding to the fingertip side through both sides of the driving side bevel gear, and each bearing housing.
- a bearing mounted, and a joint shaft rotatably supported at both ends by these bearings and arranged in a direction orthogonal to a center axis of a rotation output shaft of the fingertip-side joint driving actuator;
- a driven bevel gear fixed coaxially to the outer peripheral surface of the joint shaft and meshing with the drive bevel gear; and one end fixed to the joint shaft and extending in a direction orthogonal to the joint shaft.
- a connecting member also in this case, the turning member of the fingertip is connected to the connecting member.
- a strain gauge for detecting torque transmitted through the connecting member may be attached to a side surface of the connecting member.
- the joint shaft may be a hollow joint shaft having a hollow portion for wiring.
- the rotating member of the fingertip may be an outer cylinder of the fingertip.
- working tools such as a drill and a driver bit can be attached to the rotating member in a coaxial state.
- the present invention relates to a multi-finger gripping mechanism, and is characterized by comprising a plurality of finger units having the above configuration.
- the multi-fingered gripping mechanism of the present invention can be configured to include at least three finger units and a common finger unit mounting plate supporting each finger unit.
- 1A, 1B, and 1C are a side view, a plan view, and a schematic cross-sectional view, respectively, showing a two-joint unit to which the present invention is applied.
- 2A to 2D are a plan view, a front view, a rear view, and a side view, respectively, showing an example of the two-joint finger unit in FIG.
- 3A and 3B are a cross-sectional view taken along line AA of FIG. 2 and a cross-sectional view taken along line BB of FIG. 2, respectively.
- FIG. 4A is a plan view showing an example of a one-joint finger unit
- FIG. 4B is a plan view showing an example of a multi-joint finger unit having three or more joints.
- 5A and 5B are a perspective view and a plan view showing an example of a multi-fingered gripping mechanism provided with three two-joint finger units of FIG. BEST MODE FOR CARRYING OUT THE INVENTION
- FIGS. 1A to 1C are a side view, a plan view, and a schematic cross-sectional view of a two-joint finger unit to which the present invention is applied.
- the two-joint finger unit 1 in this example includes a finger base part 2, a finger middle part 3, a finger tip part 4, a finger base side joint part 5 connecting the finger base part 2 and the finger middle part 3, and It is composed of a fingertip-side joint 6 connecting the finger middle part 3 and the fingertip part 4.
- the finger base side joint part 5 can rotate the finger middle part 3 around a joint axis 5 a orthogonal to the center axis 3 a of the finger middle part over a predetermined angle range as shown by an arrow a. It is supported in a state.
- the fingertip-side joint 6 places the fingertip 4 around a joint axis 6 a orthogonal to the center axis 4 a of the fingertip 4.
- the finger base 2 includes a finger base side joint driving actuator 7 for turning the finger middle part 3 around the joint axis 5a.
- the middle finger portion 3 includes a fingertip-side joint driving actuator 8 for rotating the fingertip portion 4 around the joint axis 6a.
- the fingertip portion 4 of the present example includes a turning cylinder 9 (swinging member) supported by the fingertip side joint portion 6 so as to be capable of turning.
- the outer peripheral surface of the turning cylinder 9 causes the fingertip portion 4 to rotate.
- the fingertip outer cylinder (rotating member) 10 is supported so as to be rotatable around the central axis 4a of the fingertip as shown by the arrow c.
- a rotation driving actuator 11 for rotating the fingertip outer cylinder 10 is disposed coaxially inside the fingertip outer cylinder 10, and the rotation driving actuator 11 is turned. It is mounted coaxially inside the cylinder 9.
- the fingertip side joint part 5 and the finger base side joint part 6 are provided with a torque detecting unit for detecting torque transmitted through each of them.
- the strain gauges 12 and 13 are attached to the joints 5 and 6, respectively.
- 2A to 2D are a plan view, a front view, a rear view, and a side view showing the two-joint finger unit 1, respectively.
- 3A and 3B are a cross-sectional view taken along line AA of FIG. 2 and a cross-sectional view taken along line BB of FIG. 2, respectively. With reference to these figures, the structure of each part of the two-joint finger cut 1 will be described.
- the finger base 2 is provided with a mounting flange 21 at its front end (the end on the fingertip side), and this mounting flange 21 is vertically attached to a fixed-side support member (not shown), for example.
- a finger root side joint driving actuator 7 is horizontally mounted on the mounting flange 21 in a forward facing posture.
- the rotation output shaft 7 c of the finger root side joint driving actuator 7 projects forward from the mounting flange 21.
- the finger root joint driving actuator 7 is composed of, for example, a motor 7a and a reduction gear 7b which are coaxially connected.
- As the speed reducer 7b a wave gear speed reducer including an annular rigid internal gear, a flexible external gear arranged inside thereof, and a wave generator fitted inside the inside can be used. .
- the flexible external gear is radiused in the radial direction and partially meshes with the rigid internal gear, and when the wave generator is rotated by the motor 7a, the meshing positions of both gears are changed.
- the rotation output shaft 7c outputs the rotation output shaft 7c in which the speed is reduced at the reduction ratio according to the difference in the number of teeth between the two gears. Since the wave gear reducer is publicly known, further description is omitted.
- the finger base joint 5 connected to the front end of the finger base 2 is a rotary output shaft.
- a drive-side bevel gear 51 fixed coaxially to the tip of c and a pair of bearing housings 52, which project forward from the front of the mounting flange 21 through the upper and lower sides of the drive-side bevel gear 51 , 53 and.
- Bearings 54, 55 are mounted on the bearing housings 52, 53, respectively, and the bearings 54, 55 vertically support the hollow joint shaft 56 with both ends rotatable. ing.
- the center axis of the joint shaft 56 is the joint axis 5a, and the joint axis 5a is orthogonal to the center axis 7d of the rotary output shaft 7c of the finger root side joint driving actuator 7.
- a driven bevel gear 57 is coaxially fixed to the upper end of the joint shaft 56, and meshes with the drive bevel gear 51. Further, a rear end portion of a connecting member 58 extending horizontally forward is fixed to a middle portion of the joint shaft 56 in the vertical direction. Note that the strain gauges 12 are attached to the side surfaces of the connecting member 58. The front side portion of the connecting member 58 is an arm portion 58a which is bifurcated vertically.
- the finger middle portion 3 includes a rear end portion of the fingertip-side joint driving actuator 8 fixed between the upper and lower arm portions 58a of the connecting shaft 58.
- the fingertip side joint drive actuator 8 is also composed of a motor 8a and a speed reducer 8b, like the finger base side joint drive actuator 7. Arm part 5 of connecting shaft 5 8
- a rotation output shaft 8c projects forward from the front end of the fingertip-side joint driving actuator 8.
- the fingertip side joint 6 has the same structure as the finger base side joint 5 described above. That is, the drive bevel gear 61 fixed coaxially to the tip of the rotation output shaft 8c of the fingertip joint drive actuator 8 protruding from the middle finger portion 3 toward the fingertip, and the drive from the front end of the actuator 8 A pair of bearing housings 62, 63 projecting forward through upper and lower sides of the side bevel gear 61 are provided. Bearings 64, 65 are attached to the bearing housings 62, 63, respectively, and the hollow joint shaft 66 is vertically supported by these bearings 64, 65 with both ends rotatable. ing.
- the center axis of this joint axis 6 6 is the joint axis 6 a, and this joint axis 6 a is the center axis of the rotation output shaft 8 c of the finger root side actuator drive actuator 8 c (the center axis 3 a of the finger middle part 3 ) Is orthogonal to.
- a driven bevel gear 67 is coaxially fixed to the upper end of the joint shaft 66, and meshes with the drive bevel gear 61. Further, a rear end portion of a connecting member 68 extending horizontally forward is fixed to a middle portion of the joint shaft 66 in the vertical direction.
- the strain gauge 13 is attached to the side surface of the connecting shaft 68.
- the turning cylinder 9 of the fingertip portion 4 is attached to the upper and lower arm portions 68 a on the front side of the connecting member 68.
- a rotary drive actuator 11 is fixed coaxially inside the swivel cylinder 9.
- the fingertip outer cylinder 10 of the present example includes a cylindrical portion 10a rotatably supported by the outer peripheral surface of the revolving cylinder 9 so as to cover the entire revolving cylinder 9, and a cylindrical portion 10a. It is formed from a hemispherical tip portion 10b formed at the front end.
- a center hole 10c is formed in the hemispherical tip portion 10b, into which the rotation output shaft 11c of the actuator 11 is inserted and fixed.
- the actuator 11 also includes a motor 11a and a reduction gear 11b similar to the actuators 7 and 8 described above.
- a rotary tool 42 such as a drill ⁇ driver bit can be inserted into the center hole 10c from the front and fixed to the rotary output shaft 11c.
- FIG. 4A shows an example of a one-joint finger unit.
- the one-joint finger unit 100 includes a finger base part 102, a finger tip part 104, and a joint part 106 connecting the finger base part 102 and the finger tip part 104. .ing.
- the finger base 102 can be configured in the same manner as the finger base 2 described above
- the finger tip 104 can be configured in the same manner as the finger tip 4 described above
- the joint 106 is similar to the joint 6 described above. Can be configured.
- FIG. 4B shows an example of a multi-joint finger unit having three or more joints.
- the articulated finger unit 200 has a finger base portion 202, a finger middle portion 203, a finger tip portion 204, a finger base side joint portion 205, and a finger tip side joint portion 206.
- the finger middle part 203 includes a plurality of finger middle parts 213 and an intermediate joint part 223 connecting the finger middle parts 213 to each other.
- the finger base 2 ⁇ 2 can be configured in the same manner as the above-described finger base 2, each middle finger portion 2 13 can be configured in the same manner as the middle finger portion 3, and the fingertip 204 can be configured as the above fingertip 4 It can be configured similarly to The finger base joints 204 and the respective intermediate joints 222 can be configured in the same manner as the finger base joints 5 described above, and the fingertip joints 206 are similar to the finger tip joints 6 described above. Can be configured.
- FIGS. 5A and 5B are a perspective view and a plan view showing an example of a multi-finger gripping mechanism provided with three two-joint finger units shown in FIGS.
- the multi-finger gripping mechanism 300 of this example has three two-joint finger units 1-1, 1-1, 1-3 having the same structure. These two-joint finger units 1-1 to 1_3 are fixed to three corners of an equilateral triangular common mounting plate 302 having a column 301. In other words, the mounting flanges of each two-joint finger unit 11-1 to 1_3 2 1 is fixed to each corner of the common mounting plate 302.
- components W such as a screw.
- the component W can be rotated around its central axis. Therefore, the work of screwing a bolt, a screw, or the like into a bolt hole, a screw hole, or the like can be performed.
- the finger unit of the present invention can rotate its fingertip around the central axis. Therefore, if a rotary tool such as a drill or a driver bit is attached to the tip, drilling work or screwing work can be performed.
- a multi-finger gripping mechanism having a plurality of finger units can grip components of various shapes or materials. In addition to gripping and transferring parts, it is also possible to position bolts and screws in port holes and screw holes and screw them into them.
- each finger unit can be appropriately driven based on the torque detected by a torque detector such as a strain gauge attached to each joint.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/004564 WO2005102619A1 (ja) | 2004-03-30 | 2004-03-30 | 指ユニットおよび多指型把持機構 |
US10/584,761 US7556299B2 (en) | 2004-03-30 | 2004-03-30 | Finger unit and multi-finger grasping mechanism |
EP04724422A EP1704970A4 (en) | 2004-03-30 | 2004-03-30 | FINGER AND MECHANISM SUPPORTING MULTIPLE FINGERS |
JP2006512426A JPWO2005102619A1 (ja) | 2004-03-30 | 2004-03-30 | 指ユニットおよび多指型把持機構 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2004/004564 WO2005102619A1 (ja) | 2004-03-30 | 2004-03-30 | 指ユニットおよび多指型把持機構 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005102619A1 true WO2005102619A1 (ja) | 2005-11-03 |
Family
ID=35196812
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/004564 WO2005102619A1 (ja) | 2004-03-30 | 2004-03-30 | 指ユニットおよび多指型把持機構 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7556299B2 (ja) |
EP (1) | EP1704970A4 (ja) |
JP (1) | JPWO2005102619A1 (ja) |
WO (1) | WO2005102619A1 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4614878B2 (ja) * | 2005-12-28 | 2011-01-19 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンドの指ユニットおよび組立方法 |
DE102006052402A1 (de) * | 2006-10-27 | 2008-04-30 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Motorantreibbare Gelenk-Glied-Einheit für Roboterfinger oder Roboterarme und System hierfür |
JP5072695B2 (ja) * | 2008-04-22 | 2012-11-14 | 株式会社ハーモニック・ドライブ・システムズ | ロボットハンドおよび指機構 |
DE102008023926B4 (de) * | 2008-05-16 | 2010-09-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Roboterfinger sowie Roboterhand |
US8346393B2 (en) * | 2008-12-18 | 2013-01-01 | Samsung Electronics Co., Ltd. | Control apparatus of multi-finger hand and grasping method using the same |
WO2010101203A1 (ja) * | 2009-03-06 | 2010-09-10 | 株式会社安川電機 | ロボットの関節ユニット及びロボット |
WO2010142043A1 (en) * | 2009-06-12 | 2010-12-16 | Kinova | Mechanical finger |
KR101778031B1 (ko) * | 2010-09-17 | 2017-09-26 | 삼성전자주식회사 | 로봇 핸드 |
CN102085661B (zh) * | 2010-12-18 | 2012-05-09 | 浙江理工大学 | 全驱动式灵巧机械手 |
KR101340294B1 (ko) * | 2012-07-04 | 2013-12-11 | 한국과학기술원 | 관절 잠금 장치를 구비하는 불충분 구동 로봇 핑거 |
US8757690B2 (en) * | 2012-07-20 | 2014-06-24 | GM Global Technology Operations LLC | Reconfigurable gripping device |
JP5766767B2 (ja) * | 2013-11-05 | 2015-08-19 | ファナック株式会社 | 円筒形対象物を把持するロボットハンド及びロボット |
CN103659829A (zh) * | 2013-11-13 | 2014-03-26 | 苏州绿的谐波传动科技有限公司 | 一种利用精密谐波减速器的机械手 |
KR101469493B1 (ko) * | 2013-12-03 | 2014-12-05 | 한국과학기술연구원 | 차동 기어 특성을 이용한 로봇 핑거 구동 모듈 및 이를 포함하는 로봇 핸드 |
DE102015216550A1 (de) * | 2015-08-28 | 2017-03-02 | Kuka Roboter Gmbh | Robotergreifer |
JP6457560B2 (ja) * | 2017-01-06 | 2019-01-23 | ファナック株式会社 | 回転軸関節構造 |
JP7009072B2 (ja) * | 2017-03-30 | 2022-01-25 | ダブル技研株式会社 | 指機構およびこの指機構を組み込んだ人間型ハンド |
US10787259B2 (en) * | 2018-11-08 | 2020-09-29 | Colorado State University Research Foundation | Compliant bistable gripper for aerial perching and grasping |
CN109773814A (zh) * | 2019-02-28 | 2019-05-21 | 重庆科技学院 | 伺服驱动多关节仿生手 |
DE102020110692A1 (de) * | 2020-04-20 | 2021-10-21 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Modularer Greiffinger, Greifvorrichtung und Baukasten |
CN112296994B (zh) * | 2020-12-30 | 2021-03-26 | 新乡职业技术学院 | 一种多角度调节机械手爪 |
CN115122370A (zh) * | 2022-07-22 | 2022-09-30 | 安徽工业大学 | 一种带滚球的四杆并联灵巧手 |
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JPS6362686A (ja) * | 1986-08-30 | 1988-03-18 | フアナツク株式会社 | 多関節型ロボツト |
US5437490A (en) * | 1991-09-14 | 1995-08-01 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Finger module, finger module structure, and robot hand |
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JP2825623B2 (ja) * | 1990-07-23 | 1998-11-18 | 富士重工業株式会社 | 組立ロボット用ドリリングユニット |
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2004
- 2004-03-30 WO PCT/JP2004/004564 patent/WO2005102619A1/ja not_active Application Discontinuation
- 2004-03-30 JP JP2006512426A patent/JPWO2005102619A1/ja active Pending
- 2004-03-30 EP EP04724422A patent/EP1704970A4/en not_active Withdrawn
- 2004-03-30 US US10/584,761 patent/US7556299B2/en active Active
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JPS6362686A (ja) * | 1986-08-30 | 1988-03-18 | フアナツク株式会社 | 多関節型ロボツト |
US5437490A (en) * | 1991-09-14 | 1995-08-01 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Finger module, finger module structure, and robot hand |
JP2002264066A (ja) * | 2001-03-09 | 2002-09-18 | Mitsubishi Heavy Ind Ltd | ロボットハンドによる把持方法及び把持機構 |
JP2004122339A (ja) * | 2002-10-07 | 2004-04-22 | Harmonic Drive Syst Ind Co Ltd | ロボットハンドの指ユニット |
JP2004181610A (ja) * | 2002-10-07 | 2004-07-02 | Harmonic Drive Syst Ind Co Ltd | ロボットハンド用掌機構 |
Non-Patent Citations (1)
Title |
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See also references of EP1704970A4 * |
Also Published As
Publication number | Publication date |
---|---|
US20070063523A1 (en) | 2007-03-22 |
EP1704970A1 (en) | 2006-09-27 |
US7556299B2 (en) | 2009-07-07 |
EP1704970A4 (en) | 2007-04-25 |
JPWO2005102619A1 (ja) | 2008-03-13 |
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