Robot hand
AssigneeHonda Motor Co., Ltd.
InventorHironori Waita
Life of this patent
Estimating the term…
Abstract
A robot hand includes: a first link; a first fixed pulley and a second fixed pulley, respectively provided at a proximal end pivot part of the first link and rotatable around a first axis; a second link, supported at an intermediate pivot part by the first link to be rotatable around a second axis; a lever link, supported by the proximal end pivot part of the first link to be rotatable around the first axis; a lever pulley, supported by the lever link; a hanging cable, hung on the first fixed pulley, the lever pulley, and the second fixed pulley; a conversion mechanism, connecting the lever link and the second link, and converting rotation of the lever link into rotation of the second link; and a second link driving mechanism, rotating the lever link around the first axis by pulling the hanging cable.
Claims10
A robot hand, comprising:
- a first link;
- a first fixed pulley and a second fixed pulley, respectively provided at a proximal end pivot part of the first link and rotatable around a first axis with respect to the first link;
- a second link, supported at an intermediate pivot part by the first link to be rotatable around a second axis;
- a lever link, having a proximal end supported by the proximal end pivot part of the first link to be rotatable around the first axis;
- a lever pulley, supported by a free end of the lever link to be rotatable;
- a hanging cable, hung on the first fixed pulley, the lever pulley, and the second fixed pulley;
- a conversion mechanism, connecting the lever link and the second link, and converting rotation of the lever link around the first axis into rotation of the second link around the second axis;
- and
- a second link driving mechanism, rotating the lever link around the first axis by driving the hanging cable.
Dependencies are inferred from the claim text.