Robot hand

Abstract

A robot hand includes a first finger, a second finger, and a first moving mechanism that brings the first and second fingers close to each other in a predetermined moving direction so that the first and second fingers grip a workpiece. The first moving mechanism includes a first movable pulley, a first wire that has two ends, one of which is connected to the first finger and the other is connected to the second finger, and is wrapped around the first movable pulley, and a first air cylinder that moves the first movable pulley. The first air cylinder moves the first movable pulley so that a tension of the first wire acts on the first and second fingers and to bring the first and second fingers close to each other.

Dependencies are inferred from the claim text.