ROBOT HAND AND A ROBOT INCLUDING THE ROBOT HAND FOR STABILIZING A DRIVE SYSTEM BY PREVENTING AN EXCESSIVE LOAD EXERTED ON A WIRE OR UNWINDING OF THE WIRE

摘要

PURPOSE: A robot hand and a robot including the robot hand are provided to prevent the motion of some of finger joints from influencing the operation of other joints by locating an MP(Meta Phalangeal) roll joint part and an MP pitch joint part separate from each other.;CONSTITUTION: A robot hand(100) comprises a base unit, a plurality of finger structures(105), a driving unit, and a wire(108). The finger structures are coupled to the base unit. The driving unit drives the finger structures. The wire transfers the driving force from the driving unit to the finger structures. Each finger structure comprises an MP joint unit connecting the base unit and the finger structures. The MP joint unit comprises an MP roll joint part and an MP pitch joint part. The MP roll joint part is rotated in a rolling direction. The MP pitch joint part is rotated in a pitch direction. The MP roll joint part and the MP pitch joint part are located separate from each other in order to form an offset.;COPYRIGHT KIPO 2011