Flexible robot hand, has frame attached with thumb and fingers, and motor drive unit adjusting movements of thumb and fingers, where thumb is coupled with inch cable, and finger is attached with finger cable

摘要

The hand (1) has a frame (2) attached with a thumb (3) and fingers (4, 5). A motor drive unit (6) adjusts movements of the thumb and the fingers, where the thumb is coupled with an inch cable (7). The fingers are attached with finger cables (8, 9). A sub-frame is provided with movable pulleys (12, 13) that are equipped in the thumb cable. The finger cable is attached with the sub-frame. A set of guide wheels is interconnected with each other by the thumb cable or the finger cable.