Multi-joint drive mechanism and method of manufacturing the same, grasping hand and robot using the same

摘要

The rows, forms a (101) aggregate layer member arranged to face substantially and aggregates with a plurality of coupling movably connecting portion in (3A) the aggregate of the plurality, the bone material By with elastic expansion and contraction member fixed to the bone material between the plurality being positioned to extend over the connecting portion on one surface or both surfaces of the layer member (3), to expand or contract the elastic expansion and contraction material, I bent drive the joints of the aggregate between a plurality of said adjacent.