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US 2010/0061835 A1Published application
Robot hand and humanoid robot having the same
AssigneeSamsung Electronics Co., Ltd.
InventorHyun Sik Sim
Life of this patent
Estimating the term…
Abstract
A robot hand, which minimizes the number of actuators and adjusts the bending angles of joints through torque limiters to flexibly and finely control finger units, and a humanoid robot having the robot hand. The robot hand includes a torque limiter disposed on at least any one joint of a plurality of joints to link another joint of the plurality of joints with the any one joint through a power transmission member.
Claims18
A robot hand comprising:
- a base unit provided with an actuator;
- at least one finger unit installed on the base unit;
- a plurality of link members provided in each of the at least one finger units;
- a plurality of joints connecting the plurality of link members;
- a plurality of power transmission members linking the plurality of joints with each other by power transmitted from the actuator;
- and
- a torque limiter disposed on any one joint of the plurality of joints, and restricting the bending of the any one joint to link another joint of the plurality of joints with the any one joint.
4 more elements
A humanoid robot having a torso and a robot hand connected to the torso, the robot hand comprising:
- a base unit provided with an actuator;
- at least one finger unit installed on the base unit;
- a first link member, a second link member, and a third link member provided in each of the at least one finger units;
- a first joint connecting the base unit and the first link member;
- a second joint connecting the first link member and the second link member;
- a third joint connecting the second link member and the third link member;
- a first pulley provided on the first joint and receiving power of the actuator;
- second pulleys provided on the second joint and connected to the first pulley;
- a third pulley provided on the third joint and connected to the second pulleys;
- a plurality of power transmission members linking the first, second, and third joints with each other by the power of the actuator;
- and
- a torque limiter disposed on the first joint, and restricting the bending of the first joint to rotate the second and third pulleys and thus to vary the bending angles of the second and third joints, when the torque limiter contacts an object and reaction force of a designated value or more is applied to the torque limiter.
9 more elements
Dependencies are inferred from the claim text.