LAYERED-TYPE MULTI-JOINT PORTION DRIVE MECHANISM, METHOD OF PRODUCING THE MECHANISM, GRIP HAND WITH THE MECHANISM, AND ROBOT ARM

摘要

A layered-type multi-joint portion drive mechanism has a bone member (1) having at least two elastic deformation portion (1A), a layered-type air pressure piping member (2) having piping (2a, 2b) of two systems connected to an air pressure drive source (4), and a plane-type joint portion deformation member (3) layered on the piping member (2), arranged on joint portions (3a, 3b) opposed to each of the deformation portions, and whose joint portions corresponding to air pressure operation chambers (16A, 16B) connected to the piping are deformable when air pressure is applied to the chambers.