MULTI-JOINT FINGER MEMBER, ROBOT HAND, AND ITS CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a finger member having a plurality of joints driven by a common drive source, capable of generating such a state that angles of these joints are set to arbitrary angle values.;SOLUTION: The multi-joint 2 is equipped with a drive motor 200, a first joint 20 driven by the motor 200, a first link 21 with its one end fixed to the first joint 20, a second link 23, a second joint 22 to couple rotatably the second link 23 with the other end of the first link 21 and driven by the motor 200 which is common to the first joint 20, and a clutch mechanism 212. The clutch mechanism 212 suppresses power transmission from the motor 200 to the first joint 20 in compliance with the increase of driving torque required to drive the first joint 20 and also recovers the power transmission from the motor 200 to the first joint 20 in direct compliance with the decrease of the driving torque required to drive the first joint 20 in a state that the power transmission to the first joint 20 is suppressed.;COPYRIGHT: (C)2009,JPO&INPIT