WO2005032771A1 - ロボットハンド - Google Patents
ロボットハンド Download PDFInfo
- Publication number
- WO2005032771A1 WO2005032771A1 PCT/JP2004/012573 JP2004012573W WO2005032771A1 WO 2005032771 A1 WO2005032771 A1 WO 2005032771A1 JP 2004012573 W JP2004012573 W JP 2004012573W WO 2005032771 A1 WO2005032771 A1 WO 2005032771A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- finger
- robot hand
- rigidity
- robot
- links
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- 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
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- 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
- Y10S294/902—Gripping element
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- 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 relates to robots and hands, and more particularly, to the structure of finger parts of robots and hands.
- Finger parts (more specifically, fingertips) of robot hands are generally formed of a single rubber material (for example, silicon rubber) having an appropriate friction coefficient.
- the following Non-Patent Document 1 proposes that the fingertip is composed of a skeleton made of an aluminum cover and a nail, and a skin having a soft sponge force covering the skeleton. Further, as described in Patent Document 1, a technique is proposed in which a hard and internal skin that covers a tactile sensor attached to a skeleton base portion and a soft and external skin that covers the internal skin are provided.
- Non-Patent Document 1 Proceedings of the 16th Annual Conference of the Robotics Society of Japan “Development of multi-fingered robots with adjustable fingertip shapes,” Robotics Society of Japan, September 1998, ppl43 7—1438
- Patent Document 1 Japanese Patent Publication No. 7-8477
- a first object of the present invention is to eliminate the inconveniences described above, and to provide a robot hand that improves the flexibility of the finger and stably holds an object. is there.
- a second object of the present invention is to improve the flexibility of the finger part, stably hold the object, and improve the detection accuracy of the force sensor attached to the finger part. To provide a hand.
- the present invention provides a finger portion comprising a plurality of finger links as described in claim 1 to be described later and a finger joint connecting the finger links.
- at least one of the finger links includes a first member, a second member closely attached to a surface of the first member, and a third member that covers at least the second member.
- the second member is configured so that the rigidity of the second member is set lower than the rigidity of the first member and the third member.
- the friction coefficient of the third member as set forth in claim 2 to be described later is set to be higher than the friction coefficients of the first member and the second member. Configured.
- the present invention is configured such that the thickness of the third member as set forth in claim 3 described later is set smaller than the thickness of the second member.
- the first member as described in claim 4 to be described later is formed of a resin material.
- the second member as described in claim 5 described later is configured to be a flexible material.
- the third member as described in claim 6 described later has high friction. It consisted of a coefficient material.
- the surface of the third member as described in claim 7 described later is configured to have a concave-convex shape.
- the present invention includes a fourth member closely attached to a part of the surface of the third member as described in claim 8 described later, and the rigidity of the fourth member is The rigidity was set higher than that of the second member.
- the present invention is configured such that the fourth member as described in claim 9 described later is made of a resin material.
- a finger portion comprising a plurality of finger links as described in claim 10 and a finger joint connecting the finger links.
- the robot node comprising: a base portion to which a force sensor is attached, at least one of the finger links, a first member connected to the base portion via the force sensor, and the first A second member that is in close contact with the surface of the member, a third member that covers at least the second member, and a fourth member that is in close contact with a part of the surface of the third member
- the fourth member is configured to be connected to the force sensor.
- the present invention is configured such that the fourth member as described in claim 11 described later is connected to the force sensor via a connecting member.
- a robot hand including a finger portion including a plurality of finger links and a finger joint connecting the finger links
- at least one of the finger links is a first And a second member that is in close contact with the surface of the first member, and a third member that covers at least the second member, and the rigidity of the second member is Since the first member and the third member are configured to be set lower than the rigidity of the third member, the flexibility of the finger portion is improved by the second member, and the third member and the object are brought into contact with each other. The area can be increased, so that the object can be stably held.
- the friction coefficient of the third member is set to be higher than the friction coefficients of the first member and the second member, the object Can be held more stably.
- the thickness of the third member is set to be smaller than the thickness of the second member, in addition to the effects described above, The deformation of the member is promoted, and the flexibility of the finger portion can be further improved, so that the object can be gripped more stably.
- the first member is configured to have a grease-based material force, that is, the first member has a high rigidity and a lightweight member is manufactured.
- the inertia weight of the finger portion can be reduced.
- the force sensor by attaching the force sensor to the first member having high rigidity, the stress acting on the finger can be detected with high accuracy.
- the finger portion is further provided with a high flexibility, and further. A stable object can be held, and the finger can be returned to its original shape when the contact between the finger and the object is broken.
- the third member is configured to be made of a material having a high friction coefficient, the above effect is considered and a high friction coefficient is given to the finger portion. Therefore, the object can be gripped more stably.
- the surface of the third member is configured to have an uneven shape, the friction coefficient of the finger portion is further improved in consideration of the effects described above. Therefore, the object can be gripped more stably.
- a fourth member that is in close contact with a part of the surface of the third member, and the rigidity of the fourth member is equal to that of the second member. Since it is configured to be set higher than the rigidity, in addition to the effects described above, excessive deformation of the second member can be suppressed by the fourth member, and thus the object can be gripped more stably. be able to
- the fourth member is configured to be a resin material, that is, the fourth member has a high rigidity and is a lightweight member cover.
- the fourth member has a high rigidity and is a lightweight member cover.
- excessive deformation of the second member can be more effectively suppressed, and the inertia weight of the finger portion can be reduced.
- at least one of the finger links is a cassette.
- a base part to which a sensor is attached a first member connected to the base part via the force sensor, a second member closely attached to the surface of the first member, and at least the second member And a fourth member that is in close contact with a part of the surface of the third member, and the fourth member is configured to be connected to the force sensor. Therefore, the flexibility of the finger portion can be improved by the second member, and the contact area between the third member and the object can be increased, so that the object can be stably grasped. In addition, the stress received by the finger can be accurately transmitted to the force sensor via the fourth member, so that the detection accuracy of the force sensor can be improved.
- the fourth member is configured to be connected to the force sensor via a connecting member, in addition to the above-described effects, the shape of the fourth member is Its simplification makes it easy to manufacture and allows easy connection (assembly) of the fourth member and the kasa sensor.
- FIG. 1 is a plan view of a robot hand according to a first embodiment of the present invention when a palm side force is also seen.
- FIG. 2 is an explanatory view schematically showing a structure of the second finger portion shown in FIG.
- FIG. 3 is an explanatory view schematically showing the structure of the second finger portion shown in FIG.
- FIG. 4 is a perspective view showing a cross section of a part of a terminal link in the second finger portion shown in FIG. 1.
- FIG. 5 is a plan view of the first member shown in FIG. 4.
- FIG. 6 is a bottom view of the first member shown in FIG.
- FIG. 7 is a cross-sectional view taken along line VII-VII in FIG.
- FIG. 8 is a plan view of the second member shown in FIG.
- FIG. 9 is a bottom view of the second member shown in FIG. 4.
- FIG. 10 is a cross-sectional view taken along the line XX of FIG.
- FIG. 11 is a plan view of the third member shown in FIG. 4.
- FIG. 12 is a bottom view of the third member shown in FIG. 4.
- FIG. 13 is a sectional view taken along line XIII—XIII in FIG.
- FIG. 14 is a perspective view showing the surface shape of the third member shown in FIG. 4.
- FIG. 15 is a plan view of the fourth member 16a4 shown in FIG.
- FIG. 16 is a bottom view of the fourth member 16a4 shown in FIG.
- FIG. 17 is a cross-sectional view taken along line XVII—XVII in FIG.
- FIG. 18 is a perspective view similar to FIG. 4, showing a robot hand according to a second embodiment of the present invention.
- FIG. 19 is a perspective view of a fourth member shown in FIG.
- FIG. 20 is a perspective view similar to FIG. 14, showing the surface shape of the third member shown in FIG. 4 and the like.
- FIG. 21 is a perspective view showing the surface shape of the third member shown in FIG. 4 and the like.
- FIG. 1 is a plan view of a hand of a robot hand according to a first embodiment of the present invention when the palm side force is seen.
- reference numeral 10 denotes a robot hand.
- the robot hand 10 includes a hand part 12 and first to fifth finger parts 14 and 22 connected to the hand part 12.
- the first to fifth finger parts 14 and 22 correspond to the thumb, index finger, middle finger, ring finger, and little finger of a person's hand, respectively.
- the palm portion 12 includes a palm forming member 30 that forms a surface on the palm side, and a hand forming portion 32 that forms a surface on the back side, and the inside thereof includes first to fifth fingers.
- An electric motor (stepping motor, not shown) for driving the parts 14 and 22 is arranged.
- the proximal end portion of the hand handle 12 is connected to an arm portion 36 of a robot (not shown).
- the robot provided with the arm portion 36 is specifically a bipedal humanoid robot.
- Each of the first to fifth finger portions includes a plurality of finger links and finger joints connecting the finger links.
- the first finger portion 14 connects the distal link 14a, the proximal link 14b, the first joint 14A that connects them, and the proximal link 14b and the wrist portion 12. It becomes force with the second joint 14 B.
- the second finger 16 includes the last link 16a, the middle link 16b, The first joint 16A connecting the proximal link 16c, the last link 16a and the middle link 16b, the second joint 16B connecting the middle link 16b and the proximal link 16c, and the proximal link 16c and the hand part It consists of a third joint 16C connecting 12.
- the third finger part 18, the fourth finger part 20, and the fifth finger part 22 are configured in the same manner as the second finger part 16.
- FIG. 1 is explanatory views schematically showing the structure of the second finger portion 16.
- the proximal link 16c as shown in the figure is connected to a fixing member 38 fixed to the wrist portion 12 via the third joint 16C.
- the second finger portion 16 includes a first arm 161 arranged in parallel with the middle link 16b and a second arm 162 arranged in parallel with the proximal link 16c.
- One end of the first arm 161 is connected to the rotation axis 16BS of the second joint at the proximal link 16c, while the other end is near the rotation axis 16AS of the first joint at the end link 16a.
- the second arm 162 is connected at one end thereof to a fixing member 38 fixed to the handle portion 12, while the other end is connected to the rotation shaft 16BS of the second joint at the middle joint link 16b. .
- An output shaft of an electric motor (not shown) is connected to the third joint 16C.
- the third joint 16C (the proximal link 16c) is rotated by the rotation output of the electric motor
- the second joint 16B (the middle link 16b) is rotated via the second arm 162
- the first joint 16C is further rotated.
- the first joint 16A (the end link 16a) is rotated via the arm 161. Thereby, the second finger portion 16 as shown in FIG. 3 is bent.
- the third finger 18, the fourth finger 20, and the fifth finger 22 also have a first arm and a second arm (not shown).
- the bending operation is performed by an electric motor (not shown) connected to the third joint.
- the first finger portion 14 includes only a first arm (not shown) arranged in parallel with the proximal link 14b, and an electric motor (not shown) connected to the second joint. A bending motion is performed.
- each finger unit is driven by driving the electric motor connected to the third joint (or the second joint) of each finger unit. Can be bent and the object can be gripped.
- FIG. 4 is a perspective view showing, in section, a part of the terminal link 16a in the second finger portion 16. As shown in FIG. 4
- the terminal link 16a is a first member located at the center of the terminal link 16a as shown in the drawing. 16al, a second member 16a2 in close contact with a part of the surface of the first member 16al, a third member 16a3 covering the first member 16al and the second member 16a2, and the third And a fourth member 16a4 that is in close contact with a part of the surface of the member.
- the first member 16al to the fourth member 16a4 correspond to the bones, meat, skin, and nails of a human fingertip, respectively.
- the first member 16al has a base through a force sensor (three-axis force sensor) 40 and a high-rigidity cylindrical member 40a made of a metal or a resin material fixed to the force sensor 40. Connected to section 42. The base portion 42 is connected to the middle link 16b via the first joint 16A.
- a force sensor three-axis force sensor
- FIG. 5 is a plan view of the first member 16al (viewed from the fourth member 16a4 side), and FIG. 6 is a bottom view of the first member 16al (see also the downward force on the page of FIG. 5). Figure).
- FIG. 7 is a sectional view taken along line VII-VII in FIG.
- the first member 16al includes a first hole portion 16al, a second hole portion 16al2, and a third hole portion orthogonal to the second hole portion 16al2. Hole 16al3.
- a surface indicated by reference numeral 16al4 is a surface on which the second member 16a2 comes into contact (hereinafter referred to as “second member contact surface”).
- the second member abutting surface 16al4 is inclined at a predetermined angle ⁇ (for example, about 40 degrees) with respect to the longitudinal direction of the terminal link 16a.
- the first member 16al is made of a resin material (in this embodiment, an epoxy resin material).
- FIG. 8 is a plan view of the second member 16a2
- FIG. 9 is a bottom view of the second member 16a2 (viewed from below in FIG. 8).
- FIG. 10 is a cross-sectional view taken along the line XX of FIG.
- the surface indicated by reference numeral 16a21 (shown by a thick line) is a surface that is in contact with the second member contact surface 16al4 (hereinafter referred to as the “first member contact surface”). is there.
- the first member contact surface 16a21 is formed along the shape of the second member contact surface 16al4.
- the second member 16a2 is made of a flexible material having a softness of about Hs hardness 2-15 (in this embodiment, a gel-like elastomer material), and the first member is interposed via an elastic adhesive or the like. Fixed to 16al It is.
- FIG. 11 is a plan view of the third member 16a3, and FIG. 12 is a bottom view of the third member 16a3 (viewed from below in FIG. 11).
- 13 is a cross-sectional view taken along the line XIII-XIII of FIG. 12, and
- FIG. 14 is a perspective view showing the surface shape of the third member 16a3.
- the third member 16a3 is formed in a bag shape.
- the first collar 16a31, the second collar 16a32, the third collar 16a33, and the force S are formed in the third collar 16a3. Further, in the third member 16a3, a surface indicated by reference numeral 16a34 (shown by a thick line in FIGS. 12 and 13) is a surface on which the fourth member 16a4 abuts (hereinafter referred to as “fourth member abutting surface”). Say).
- the third member 16a3 also has a force of a high friction coefficient material (in this embodiment, a urethane material), and the surface thereof has an uneven shape (as shown in FIG. 14) in which a plurality of recesses 16a35 are formed. Dimple shape), and a high friction coefficient (more specifically, a static friction coefficient) of about 110 is given.
- FIG. 15 is a plan view of the fourth member 16a4, and FIG. 16 is a bottom view of the fourth member 16a4 (viewed from below in FIG. 15).
- FIG. 17 is a cross-sectional view taken along line XVII-XVII in FIG.
- the fourth member 16a4 is provided with a fourth hole 16a41 and a convex portion 16a42.
- a surface indicated by reference numeral 16a43 is a surface that is in contact with the above-described fourth member contact surface 16a34 (hereinafter referred to as “third member”).
- the fourth member 16a4 is made of a resin material (in this embodiment, an epoxy resin material), like the first member 16al.
- FIG. 4 will be described again on the assumption of the above.
- the second member 16a2 (specifically, the second member abutting surface 16al4) may be part of the surface of the first member 16al. 1 member contact surface 16a21) is brought into close contact.
- the first member 16al and the second member 16a2 in close contact therewith are inserted into and covered with the bag-like third member 16a3 from the third hole 16a33.
- the wall thickness of the third member 16a3 is set to a smaller value than that of the second member 16a2.
- the thickness of the portion in contact with the second member 16a2 is set to about one-sixth the thickness of that of the second member 16a2.
- the rigidity of the second member 16a2 is set to be smaller than that of the third member 16a3.
- the second member 16a2 as described above is also made of a gel-like elastomer material
- the third member 16a3 is made of urethane material to increase the rigidity of the second member 16a2. It was made smaller than that of the third member 16a3.
- a part of the surface of the third member 16a3 (fourth member contact surface 16a34) has a fourth member 16a4 (specifically, the first member contact surface 16a43). Close contact.
- the convex portion 16a42 formed in the fourth member 16a4 has the first hole 16a 31 formed in the third member 16a3 and the first hole portion 16al l formed in the first member 16al.
- the first member 16al, the third member 16a3, and the fourth member 16a4 are positioned at predetermined positions.
- the remaining surface excluding the surface (fourth member contact surface 16a34) to which the fourth member 16a4 is in close contact holds the object. It becomes the contact surface of time.
- the urethane material forming the third member 16a3 is compared with the epoxy resin material forming the first member 16a1 and the gel elastomer material forming the second member 16a2.
- a high coefficient of friction can be obtained.
- the second member 16a2 and the second member 16a2 and the second member 16a2 are covered with the second member 16a2 by manufacturing a gel-like elastomer material having a lower rigidity and higher flexibility than the third member 16a3.
- the third member 16a3 to be deformed can be easily deformed according to the shape of the object. That is, it is possible to give the finger part high flexibility and increase the contact area between the finger part (third member 16a3) and the object, and thus the object can be gripped more stably. .
- the gel-like elastomer material forming the second member 16a2 has a high flexibility and a restoring force, when the contact between the finger part and the object is cut off, the finger part is restored to the original part. It can be restored to its shape.
- the thickness of the third member 16a3 is set smaller than the thickness of the second member 16a2, the deformation of the second member 16a2 is promoted, and thus the flexibility of the finger portion is further increased. It can be improved.
- the first member 16al is made of an epoxy-based resin material, that is, the first member 16al is Since the high-rigidity and lightweight member is also manufactured, the inertia weight of the fingers can be reduced, thus reducing the load on the electric motor and reducing the size and weight of the electric motor. Can be planned. Further, by attaching the force sensor 40 to the first member 16al having high rigidity, it is possible to accurately detect the stress acting on the finger portion.
- the fourth member 16a4 having higher rigidity than the rigidity of the second member 16a2 is attached, the second member 16a2 having high flexibility is not deformed excessively. It can be suppressed by the member 16a4 of 4, so that the object can be gripped more stably. Furthermore, the fourth member 16a4 can also be made lightweight by producing an epoxy-based resin material force for the fourth member 16a4, and the inertia weight of the finger portion can be reduced.
- the above-described columnar member 40a is attached to the third hole 16al3 formed in the first member 16al.
- the cylindrical member 40a is provided with a hole, a powerful hole, a second hole 16al2 formed in the first member 16al, and a second hole formed in the third member 16a3.
- a high-rigidity pin 44 connection member
- the fourth member 16a4 And force sensor 40 are connected.
- the fourth member 16a4 is connected to the force sensor 40 via the cylindrical member 40a and the pin 44, the shape of the fourth member 16a4 is simplified and its manufacture is easy. In addition, the fourth member 16a4 and the force sensor 40 can be easily connected (assembled).
- the structure of the finger link has been described by taking the last link 16a of the second finger portion 16 as an example. It is also valid for the last link of the section.
- the middle link and the base link of each finger part are the remaining members excluding the base member, the force sensor, and the fourth member corresponding to the nail, that is, the first and second members.
- the third member is also configured, but the order of their arrangement Since the quality is the same as above, the description is omitted.
- the hand handle portion 12 to which each finger portion is connected is also composed of the first, second, and third member members, but their arrangement order and materials are the same as those described above, and thus the description thereof is omitted.
- a high friction coefficient and flexibility are given to the entire robot node 10 to further improve the gripping ability.
- the weight of inertia of the robot hand 10 attached to the tip of the robot arm 36 is reduced by forming the first member corresponding to the bone with a light epoxy-based grease material.
- FIG. 18 is a perspective view similar to FIG. 4, showing a robot hand according to a second embodiment of the present invention.
- the fourth member 16a4 and the cylindrical member 40a are replaced by a pin for connecting the fourth member 16a4 and the cylindrical member 40a.
- the connecting portion 16a45 is provided on the member 16a4.
- FIG. 19 is a perspective view of the fourth member 16a4 according to the second embodiment.
- a through hole 16a46 is formed in the connecting portion 16a45 provided in the fourth member 16a4 as shown.
- a cylindrical member 40a fixed to the force sensor 40 is passed through 46, so that the fourth member 16a4 and the force sensor 40 are connected.
- this allows the stress received by the finger portion to be accurately transmitted to the force sensor 40 via the fourth member 16a4, thereby improving the detection accuracy of the force sensor 40. It can be made.
- a plurality of finger links end link 14a-22a, middle link 16b-22b, base link 14b, 16c-22c
- finger joints first joint 14A—22A, second joint 14B—22B, third joint 16C—22C
- first joint 14A—22A, second joint 14B—22B, third joint 16C—22C connecting the finger links (first to fifth finger sections 14) 22)
- a robot hand 10 provided with 22
- at least one of the finger links is attached to a first member (16al) and a second member (16al) in close contact with the surface of the first member (16al).
- the rigidity of the second member (16a2) is set lower than the rigidity of the first member (16al) and the third member (16a3). Configured to do.
- the friction coefficient of the third member (16a3) is set to be higher than the friction coefficients of the first member (16al) and the second member (16a2).
- the thickness of the third member (16a3) is set to be smaller than the thickness of the second member (16a2).
- the first member (16al) was configured so as to have a resin material force.
- the second member (16a2) is configured to have a flexible material force.
- the third member (16a3) is configured to have a high friction coefficient material force.
- the surface of the third member (16a3) was configured to have an uneven shape.
- a fourth member (16a4) that is in close contact with a part of the surface of the third member (16a3) is provided, and the rigidity of the fourth member (16a4) is increased with respect to the second member (16a4). It was configured to be set higher than the rigidity of the member (16a2).
- the fourth member (16a4) is configured to have a greaves-based material force.
- a plurality of finger links terminal link 14a-22a, middle link 16b-22b, proximal link 14b, 16c-22c
- a finger joint first joint 14A— 22A, a second joint 14B-22B, and a third joint 16C-22C having a finger portion (first to fifth finger portions 14-22)
- At least one is a base part (42) to which a force sensor (40) is attached, a first member (16al) connected to the base part (42) via the force sensor (40), and the first part.
- the fourth member (16a4) is in close contact with a part of the surface of the first member, and the fourth member (16a4) is connected to the force sensor (40).
- the fourth member (16a4) is connected to a connecting member (columnar member 4).
- the first member 16al and the fourth member 16a4 are made of an epoxy-based resin material. Forces that also produce force Other oil-based materials such as ABS and PEEK may be used. Other flexible materials such as a force sponge in which the second member 16a2 is also made of a gel-like elastomer material may be used. Further, other high friction coefficient materials such as silicon rubber, which is a force in which the third member 16a3 is also made of a urethane material, may be used. In other words, the material of each member is not limited to the illustrated material, and an appropriate material may be selected according to the object to be grasped by the robot node! ⁇ .
- all finger links end link, middle link and base link
- the handle are provided with a first member and a third member.
- the deviation of each finger link or hand part may be provided with the first to third members.
- a force that makes the surface shape of the third member 16a3 a dimple shape For example, as shown in FIG. 20, a stripe shape in which a plurality of straight groove portions 16a36 are formed at equal intervals, as shown in FIG. Other shapes can be used as long as they have a concave-convex shape, such as a shape imitating a human fingerprint with multiple curved grooves 16a37! ,.
- the finger links is connected to the first member, the second member closely attached to the surface of the first member, and at least the second member. Since the second member is configured so that the rigidity of the second member is set lower than the rigidity of the first member and the third member. With this member, the flexibility of the finger part can be improved and the contact area between the third member and the object can be increased, so that the object can be stably held.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US10/570,329 US7549688B2 (en) | 2003-09-12 | 2004-08-31 | Robot hand |
EP04772529A EP1666217B1 (en) | 2003-09-12 | 2004-08-31 | Robot hand |
DE602004026205T DE602004026205D1 (de) | 2003-09-12 | 2004-08-31 | Roboterhand |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-321850 | 2003-09-12 | ||
JP2003321850A JP4313125B2 (ja) | 2003-09-12 | 2003-09-12 | ロボットハンド |
Publications (1)
Publication Number | Publication Date |
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WO2005032771A1 true WO2005032771A1 (ja) | 2005-04-14 |
Family
ID=34418983
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/012573 WO2005032771A1 (ja) | 2003-09-12 | 2004-08-31 | ロボットハンド |
Country Status (5)
Country | Link |
---|---|
US (1) | US7549688B2 (ja) |
EP (1) | EP1666217B1 (ja) |
JP (1) | JP4313125B2 (ja) |
DE (1) | DE602004026205D1 (ja) |
WO (1) | WO2005032771A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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- 2004-08-31 US US10/570,329 patent/US7549688B2/en not_active Expired - Fee Related
- 2004-08-31 EP EP04772529A patent/EP1666217B1/en not_active Expired - Fee Related
- 2004-08-31 WO PCT/JP2004/012573 patent/WO2005032771A1/ja active Application Filing
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USD812122S1 (en) * | 2016-01-29 | 2018-03-06 | Softbank Robotics Europe | Robot hand |
Also Published As
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JP4313125B2 (ja) | 2009-08-12 |
EP1666217A4 (en) | 2008-01-16 |
US7549688B2 (en) | 2009-06-23 |
EP1666217B1 (en) | 2010-03-24 |
JP2005088096A (ja) | 2005-04-07 |
EP1666217A1 (en) | 2006-06-07 |
US20070018470A1 (en) | 2007-01-25 |
DE602004026205D1 (de) | 2010-05-06 |
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