JPH0630861B2 - Finger manipulator - Google Patents
Finger manipulatorInfo
- Publication number
- JPH0630861B2 JPH0630861B2 JP2153920A JP15392090A JPH0630861B2 JP H0630861 B2 JPH0630861 B2 JP H0630861B2 JP 2153920 A JP2153920 A JP 2153920A JP 15392090 A JP15392090 A JP 15392090A JP H0630861 B2 JPH0630861 B2 JP H0630861B2
- Authority
- JP
- Japan
- Prior art keywords
- finger
- mechanisms
- joint
- finger mechanisms
- swing joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Description
【発明の詳細な説明】 〈産業上の利用分野〉 本発明は、物を把持し、操作する指マニピュレータに関
し、ロボット等の手先部等に設けられるものである。DETAILED DESCRIPTION OF THE INVENTION <Field of Industrial Application> The present invention relates to a finger manipulator for gripping and manipulating an object, which is provided in a hand part of a robot or the like.
〈従来の技術〉 第１１図〜第１３図に従来の指マニピュレータを示す。<Prior Art> FIGS. 11 to 13 show a conventional finger manipulator.
第１１図に示すものは、二つの指機構01,02を有するグ
リッパと呼ばれるものである。指機構01,02は対向して
配置され、曲げ関節を有さないため、指機構01,02を単
に相互に平行移動させて、物を挟む機能しかない。The one shown in FIG. 11 is called a gripper having two finger mechanisms 01 and 02. Since the finger mechanisms 01 and 02 are arranged so as to face each other and have no bending joint, there is only a function of simply moving the finger mechanisms 01 and 02 in parallel with each other to pinch an object.
第１２図及び第１３図は三つの指機構03,04,05よりなる
指マニピュレータである。指機構03,04は並列に配置さ
れると共に指機構05は指機構03,04に対向して配置され
ている。各指機構03,04,05は三つの曲げ関節及び一つの
横振り関節を有し、人間の指と同様な自由度を有してい
る。このため、指機構03,04,05を曲げ、横振りさせるこ
とにより物を把持するだけでなく、把持した物を回転さ
せることが可能である。12 and 13 show a finger manipulator including three finger mechanisms 03, 04, 05. The finger mechanisms 03 and 04 are arranged in parallel, and the finger mechanism 05 is arranged to face the finger mechanisms 03 and 04. Each finger mechanism 03, 04, 05 has three bending joints and one lateral swing joint, and has the same degree of freedom as a human finger. Therefore, it is possible not only to grip an object but also to rotate the gripped object by bending and laterally swinging the finger mechanisms 03, 04, 05.
〈発明が解決しようとする課題〉 第１１図に示す指マニピュレータは、指機構01,02の自
由度が１自由度しかないため、制御は非常に簡単である
ものの、逆に物を挟む自由度しかない。このため、一旦
挟んだ物を捻じったり、回転させる、傾ける等の運動を
させるためには指マニピュレータの取り付け架台そのも
のを回転させなければならず、機構が大掛かりとなるば
かりか、微妙な動作が困難である。又、第１１図の指機
構01,02は、平行に移動して把持する機能しかない為、
把持する物体によっては安定に把持できない問題があ
る。<Problems to be Solved by the Invention> The finger manipulator shown in FIG. 11 is very easy to control because the finger mechanisms 01 and 02 have only one degree of freedom. There is nothing. For this reason, in order to twist, rotate, or tilt a pinched object, the mounting base itself of the finger manipulator must be rotated, which not only makes the mechanism large-scale, but also causes delicate movements. Have difficulty. In addition, since the finger mechanisms 01 and 02 in FIG. 11 have only the function of moving in parallel and gripping,
There is a problem that the object cannot be stably held depending on the object to be held.
第１２図及び第１３図に示す指マニピュレータは、三つ
の指機構03,04,05を有するから、複雑な物体でも３方向
より安定に保持することができる、更に把持した物を捻
じり、回転させ、傾斜させる等の操り動作する事が可能
である。The finger manipulator shown in FIG. 12 and FIG. 13 has three finger mechanisms 03, 04, 05, so that even complex objects can be held more stably in three directions. It is possible to perform maneuvering operations such as tilting and tilting.
しかしながら、各指機構03,04,05の自由度は曲げ３自由
度と横振り１自由度の計４自由度であるため、指先端位
置決めに際しては１自由度冗長である。このため、指先
端の位置だけでなく姿勢も考慮して制御しなければなら
ず、制御が非常に複雑となる。However, since each of the finger mechanisms 03, 04, 05 has a total of 4 degrees of freedom including bending 3 degrees of freedom and lateral swinging 1 degree of freedom, there is one degree of freedom redundancy in positioning the finger tip. Therefore, it is necessary to control not only the position of the tip of the finger but also the posture, which makes the control very complicated.
また、物を安定に保持するためには三つの指機構が必要
であるが、更に、保持した物体に対して連続的な動作を
加えたい場合には、三つの指機構だけでは不十分であ
る。例えば、指機構によりナットを保持して、ボルトに
締結する場合には、絶えずナットをボルトに押しつけた
定位置を保持しつつ、ナットをボルトの軸心を中心にし
て１回転以上させなければならない。Further, three finger mechanisms are necessary to stably hold an object, but when it is desired to add a continuous motion to the held object, the three finger mechanisms are not enough. . For example, when the nut is held by a finger mechanism and fastened to the bolt, the nut must be rotated once or more around the shaft center of the bolt while keeping the fixed position where the nut is constantly pressed against the bolt. .
しかし、第１２図及び第１３図に示す指マニピュレータ
では三つの指機構によりナットを保持した後は、指機構
の可動範囲内でナットを回しうるのみであり、連続した
運動を起こさせるような操り運動、即ち把持しながら物
を持ち替える動作はできなかった。However, in the finger manipulator shown in FIG. 12 and FIG. 13, after the nut is held by the three finger mechanisms, the nut can only be turned within the movable range of the finger mechanism, and the operation that causes continuous movement is possible. It was not possible to move, that is, to move objects while gripping.
しかも、平行に配置された指機構03,04と、これと対向
して配置された指機構05とは根本の位置関係が固定され
ている。このため、操り動作、特に、ボルトを回転させ
ようとした場合に、接触する面が指先の腹面より側面に
ずれてしまうため、強く捻じることができず、また安定
した把持が困難であった。Moreover, the fundamental positional relationship between the finger mechanisms 03, 04 arranged in parallel and the finger mechanism 05 arranged opposite thereto is fixed. For this reason, when manipulating operation, especially when trying to rotate the bolt, the contact surface is displaced from the abdominal surface of the fingertip to the side surface, so that it cannot be strongly twisted and stable gripping is difficult. .
本発明は、上記従来技術に鑑みて成されたものであり、
複雑な物でも安定して把持することができる人間の指と
同様な構成の指構造を有し、且つ、把持した物を持ち替
えられる制御容易な指マニピュレータを提供することを
目的とする。The present invention has been made in view of the above-mentioned prior art,
An object of the present invention is to provide a finger manipulator which has a finger structure similar to that of a human finger capable of stably gripping even a complicated object, and which is easy to control and can hold the gripped object.
〈課題を解決するための手段〉 斯かる目的を達成する本発明の構成は複数本の指機構を
有する指マニピュレータにおいて、各指機構は指先端側
より指根本側へ向かって二つの連続した曲げ関節と該曲
げ関節と直交し、指先端側を側方へ傾ける横振り関節と
を連結して構成され、前記指機構のうちの少なくとも三
つを他の一つと対向して平行に配置すると共に平行に配
置された少なくとも三つの前記指機構を前記曲げ関節と
平行な手掌関節で根本構造体に連結して当該指機構と他
の一つの前記指機構との成す角度を可変にし、更に、前
記根本構造体に前記曲げ関節及び横振り関節に直交する
スイング関節を設けて、該スイング関節にアームを介し
て他の一つの前記指機構を連結することにより、当該指
機構の姿勢を可変としたことを特徴とする。<Means for Solving the Problems> The configuration of the present invention that achieves such an object is a finger manipulator having a plurality of finger mechanisms, and each finger mechanism has two continuous bends from the finger tip side toward the finger root side. A joint and a transverse swing joint that is orthogonal to the bending joint and tilts the finger tip side to the side, and at least three of the finger mechanisms are arranged parallel to each other and facing each other. The at least three finger mechanisms arranged in parallel are connected to the root structure by a palm joint parallel to the bending joint to make the angle between the finger mechanism and the other one finger mechanism variable, and further, A swing joint orthogonal to the bending joint and the swing joint is provided in the root structure, and the posture of the finger mechanism is made variable by connecting another one of the finger mechanisms to the swing joint via an arm. Characterized by .
〈作用〉 各指機構は多関節であるので、少なくとも三つの指機構
を内側に握り込むように曲げると、複雑な形状のもので
も安定して把持することができる。<Operation> Since each finger mechanism has multiple joints, if at least three finger mechanisms are bent so as to be gripped inward, even a complicated shape can be stably gripped.
更に、四つの指機構により物を把持すれば、その後、そ
の内の一つの指機構を離して移動させることを順次各指
機構について繰り返して実施すれば、握り変えを含む連
続した操り運動を行うことが可能である。Further, if an object is grasped by the four finger mechanisms and then one of the finger mechanisms is moved away from the other, it is repeated repeatedly for each finger mechanism, and a continuous maneuvering motion including a change of grip is performed. It is possible.
また、平行に並んだ三つの指機構を手掌関節により同時
に同一方向に曲げて、他の指機構との成す角度を調整す
れば、把持する物の大きさ、形状に応じて把持し易くす
ることが可能である。Also, by bending three parallel finger mechanisms in the same direction at the same time with the palm joints and adjusting the angle formed by the other finger mechanisms, it is easier to grasp according to the size and shape of the object to be grasped. Is possible.
しかも、スイング関節を中心に指機構の姿勢を自由に変
化させることができるので、把持した物を操り動作する
場合でも、指先の腹部で安定して把持できる。Moreover, since the posture of the finger mechanism can be freely changed centering on the swing joint, even when manipulating the grasped object, the finger can be stably grasped by the abdomen of the fingertip.
〈実施例〉 以下、本発明について、図面を参照して詳細に説明す
る。<Example> Hereinafter, the present invention will be described in detail with reference to the drawings.
第１図〜第３図に本発明の一実施例に係る指マニピュレ
ータを示す。両図に示すように本実施例は４本の指機構
１，２，３，４を有するものであり、指機構１，２，３
は平行に配列される一方、指機構４はこれら指機構１，
２，３に対向して配置されている。1 to 3 show a finger manipulator according to an embodiment of the present invention. As shown in both figures, this embodiment has four finger mechanisms 1, 2, 3, and 4.
Are arranged in parallel, while the finger mechanism 4 is
It is arranged so as to face two and three.
ここで、各指機構１〜４は、二つの連続する曲げ関節
５，６と、これらの曲げ関節５，６と直交し、指先端側
を側方へ傾ける横振り関節７とを有している。曲げ関節
５，６、横振り関節７は指先端側より指根本側へ向かっ
て骨構造８にて順に連結している。従って、横振り関節
７は指根本側に位置し、曲げ関節５，６は指先端側に位
置する。Here, each of the finger mechanisms 1 to 4 has two continuous bending joints 5 and 6 and a swing joint 7 that is orthogonal to the bending joints 5 and 6 and that tilts the finger tip side to the side. There is. The bending joints 5 and 6 and the swing joint 7 are sequentially connected by a bone structure 8 from the finger tip side toward the finger root side. Therefore, the swing joint 7 is located on the finger base side, and the bending joints 5 and 6 are located on the finger tip side.
曲げ関節５，６は指を握り込む方向に曲がるよう、つま
り指機構が相互に接近し、離反する方向に曲がるように
設計されている。また、横振り関節７は向かい合う指機
構が平行移動するよう、つまり横に広がる方向に曲がる
ように設計さている。The bending joints 5 and 6 are designed to bend in the direction in which the fingers are grasped, that is, the finger mechanisms bend in the directions in which they approach each other and move away from each other. Further, the lateral swing joint 7 is designed so that the finger mechanisms facing each other move in parallel, that is, the lateral swing joint 7 bends in the laterally expanding direction.
更に、上述した指機構１〜４は根本構造材１０に連結さ
れている。ここで、指機構１，２，３は手掌関節９を介
して根本構造材１０に連結される一方、指機構４はスイ
ング関節を介して根本構造材１０に連結されている。ま
た、指機構４は三つの指機構１〜３に対向して位置して
いる。Further, the finger mechanisms 1 to 4 described above are connected to the root structure material 10. Here, the finger mechanisms 1, 2, and 3 are connected to the root structure 10 via the palm joint 9, while the finger mechanism 4 is connected to the root structure 10 via the swing joint. Further, the finger mechanism 4 is located so as to face the three finger mechanisms 1 to 3.
手掌関節９は曲げ関節５，６と平行な方向の軸を有し、
この手掌関節９を曲げることにより、三つの指機構１〜
３を同時に同方向に移動させることが可能である。つま
り、指機構１〜３は、あたかも、もう一つの関節を有す
るが如く、それらの指先姿勢を変えることが可能であ
る。なお、特に必要がないときは、手掌関節９は曲げな
くても良い。The palm joint 9 has an axis in a direction parallel to the bending joints 5 and 6,
By bending the palm joint 9, the three finger mechanisms 1 to
It is possible to move 3 in the same direction at the same time. That is, the finger mechanisms 1 to 3 can change their fingertip postures as if they have another joint. It should be noted that the palm joint 9 may not be bent when it is not particularly necessary.
スイング関節１１は、根本構造材１０に設けられた関節
であり、曲げ関節５，６及び横振り関節７に垂直な軸を
有している。このスイング関節１１にある長さのアーム
１２にて指機構４が連結されている。The swing joint 11 is a joint provided in the root structural material 10 and has an axis perpendicular to the bending joints 5 and 6 and the swing joint 7. The finger mechanism 4 is connected by an arm 12 having a length in the swing joint 11.
従って、スイング関節１１を中心にアーム長さを半径と
して回転させれば、指機構４の指先方向を変化させない
ように姿勢を変化させることができる。以降、このよう
な回転を対向回転と言うことにする。Therefore, when the swing joint 11 is rotated about the arm length as a radius, the posture can be changed without changing the fingertip direction of the finger mechanism 4. Hereinafter, such rotation will be referred to as counter rotation.
このように指機構４のみに、スイング関節１１を連結し
て、対向回転できるようにしたのは、指機構４は人間の
指では親指に相当する物であり、複雑で微妙な運動が要
求されるからである。As described above, the swing joint 11 is connected only to the finger mechanism 4 so that the swing joint 11 can rotate in the opposite direction. The finger mechanism 4 is equivalent to a thumb of a human finger, and requires complicated and delicate motion. This is because that.
上述した合計１４個の関節１〜３，７，９，１１にはそ
れぞれプーリが取り付けられると共に各プーリに対して
両方向に二本のワイヤが巻き掛けられ、これらのワイヤ
に引張力を加えることにより、各関節を独立して操作す
ることができ、複雑な指先の動きを実現できる 上記構成を有する指マニピュレータは、四つの指機構１
〜４を有しているから、複雑な物であっても、少なくと
も三つの指機構を使用すれば安定に把持することがで
き、更に必要に応じて残りの指機構を適宜加えることに
より、操り動作が可能になる。Pulleys are attached to the above-mentioned 14 joints 1 to 3, 7, 9, and 11, respectively, and two wires are wound in both directions on each pulley, and a tensile force is applied to these wires. The finger manipulator having the above-mentioned configuration can operate each joint independently and realize complicated fingertip movements.
Since it has 4 to 4, even a complicated object can be stably grasped by using at least three finger mechanisms, and by appropriately adding the remaining finger mechanisms as needed, the operation can be performed. It becomes possible to operate.
即ち、三つの指機構１，２，４により物を把持した後、
残りの指機構３を加えて四つの指機構により把持する。
その後、指機構１を物から離して、他の位置に移動さ
せ、再び四つの指機構で把持する。同様な動作を指機構
２，３についても順次繰り返し行う。これにより、物を
絶えず三つの指機構で安定に把持しながら、持ち替え動
作を含む連続した操り動作が可能になる。つまり、４指
機構把持→３指機構把持・１指移動→４指機構把持の動
作を順次繰り返すのである。That is, after grasping an object with the three finger mechanisms 1, 2, 4,
The remaining finger mechanism 3 is added and gripped by four finger mechanisms.
After that, the finger mechanism 1 is separated from the object, moved to another position, and again grasped by the four finger mechanisms. The same operation is sequentially repeated for the finger mechanisms 2 and 3. As a result, a continuous manipulating operation including a holding operation can be performed while stably gripping an object with the three finger mechanisms. In other words, the operation of grasping the four-finger mechanism → grasping the three-finger mechanism / moving one finger → grasping the four-finger mechanism is sequentially repeated.
また、指機構１〜４は３自由度を有するから、指先端の
位置は各関節５，６，７の角度により一義的に定まり、
複雑な制御をすることなく位置決めが可能である。この
為、制御装置、ソフトウェア等が簡便となる。Further, since the finger mechanisms 1 to 4 have 3 degrees of freedom, the position of the finger tip is uniquely determined by the angles of the joints 5, 6 and 7,
Positioning is possible without complicated control. Therefore, the control device, software, etc. are simplified.
更に、平行に配置された三つの指機構１〜３は手掌関節
９により、同時に同方向に曲げることができるから、指
先の姿勢を変化させることや、把持する物の形状、大き
さにより、三つの指機構１〜３と対向して配置された指
機構４との成す角度を調整して把持し易くすることが可
能である。例えば、第４図に示すように、小さなボルト
１１を摘み上げる場合には、三つの指機構１〜３と指機
構４との成す角度を小さくしておき、また第５図に示す
ように中程度の物１４を把持する場合には、その角度を
広げ、更に第６図に示すように大きな物１５を把持する
場合には、その角度を一層大きくするのである。Further, since the three finger mechanisms 1 to 3 arranged in parallel can be simultaneously bent in the same direction by the palm joint 9, the three finger mechanisms 1 to 3 can be changed depending on the posture of the fingertip and the shape and size of an object to be grasped. It is possible to adjust the angle formed between the one finger mechanism 1 to 3 and the finger mechanism 4 arranged so as to oppose to facilitate gripping. For example, as shown in FIG. 4, when picking up a small bolt 11, the angle formed by the three finger mechanisms 1 to 3 and the finger mechanism 4 is kept small, and as shown in FIG. When grasping a large object 14, the angle is widened, and when grasping a large object 15 as shown in FIG. 6, the angle is further increased.
更に、スイング関節１１により指機構４を対向回転させ
て、その姿勢を変化できるので、操り動作において最も
重要な親指腹面を絶えず物接触させながら、物を操るこ
とができる。例えば、ボルト回しの作業を第７図〜第１
０図に示す。第７図に示すように指機構２，４でボルト
１１を把持し、その後、第８図〜第１０図に示すように
指機構４を対向回転させれば、指機構４の指先腹部でボ
ルト１１を把持したまま、ボルト１１を強く捻じること
ができるのである。Further, since the swing joint 11 can rotate the finger mechanism 4 in opposition to change the posture thereof, it is possible to manipulate the object while constantly contacting the thumb ventral surface, which is the most important in the maneuvering operation, with the object. For example, the bolt turning work is shown in FIGS.
It is shown in FIG. As shown in FIG. 7, if the bolts 11 are gripped by the finger mechanisms 2 and 4, and then the finger mechanism 4 is rotated in opposition as shown in FIGS. 8 to 10, the bolts are generated at the fingertips of the finger mechanism 4. The bolt 11 can be strongly twisted while gripping the bolt 11.
このように本実施例の指マニピュレータは、あらゆる形
状の物を安定に把持して連続的に操ることができるもの
であり、しかも制御容易なものである。As described above, the finger manipulator of the present embodiment is capable of stably gripping objects of any shape and continuously operating them, and is easy to control.
尚、上述した実施例では、四つの指機構１〜４を使用し
ていたが、本発明はこれに限るものではなく、五つ以上
の指機構を使用して更に高度な操り動作を行わせるよう
にしてもよい。Although the four finger mechanisms 1 to 4 are used in the above-described embodiment, the present invention is not limited to this, and more than five finger mechanisms are used to perform a more sophisticated maneuvering operation. You may do it.
〈発明の効果〉 以上、実施例に基づいて具体的に説明したように、本発
明の指マニピュレータは、簡単な操作により物の形状、
大きさを問わず、複雑な形状の物でも常に安定して把持
することができ、更に連続的な操り動作をさせることが
できる。しかも、スイング関節により対向回転が可能な
ため、指機構の姿勢を調整することが可能である。従っ
て、従来の技術では困難であった細かい作業がさほど複
雑な制御システムなしでできるようになり、人間の近寄
り難い悪環境の下での作業を人間に代わって代行するこ
とが可能となる。これにより、人間の危険度を大きく低
減することができ、ひいては作業全体のコスト低減に寄
与する。<Effects of the Invention> As described above in detail with reference to the embodiments, the finger manipulator of the present invention, the shape of the object by a simple operation,
Regardless of size, objects with complicated shapes can always be stably gripped, and continuous manipulating operations can be performed. Moreover, since the swing joint can rotate in opposite directions, the posture of the finger mechanism can be adjusted. Therefore, it becomes possible to perform a detailed work, which was difficult with the conventional technology, without a complicated control system, and work can be performed on behalf of a human in a bad environment where humans are difficult to approach. As a result, the degree of danger to humans can be greatly reduced, which in turn contributes to cost reduction of the entire work.
第１図は本発明の一実施例にかかる指マニピュレータの
観念図、第２図は本発明の一実施例にかかる指マニピュ
レータの側面図、第３図は第２図中のＡ−Ａ矢視図、第
４図，第５図，第６図はそれぞれ本発明の一実施例にか
かる指マニピュレータの使用態様の説明図、第７図(a)
(b)〜第１０図(a)(b)はそれぞれ本発明の一実施例に係
る指マニピュレータの使用態様の説明図、第１１図〜第
１３図はそれぞれ従来の指マニピュレータの説明図であ
る。 図面中、 １，２，３，４は指機構、 ５，６は曲げ関節、 ７は横振り関節、 ８は骨構造、 ９は手掌関節、 １０は根本構造材、 １１はスイング関節、 １２はアームである。FIG. 1 is a conceptual view of a finger manipulator according to one embodiment of the present invention, FIG. 2 is a side view of a finger manipulator according to one embodiment of the present invention, and FIG. 3 is a view taken along the line AA in FIG. FIG. 4, FIG. 5, FIG. 5, and FIG. 6 are explanatory views of the usage mode of the finger manipulator according to the embodiment of the present invention, and FIG. 7 (a), respectively.
(b) to FIG. 10 (a) and (b) are explanatory views of a usage mode of a finger manipulator according to an embodiment of the present invention, and FIGS. 11 to 13 are explanatory views of a conventional finger manipulator. . In the drawings, 1, 2, 3 and 4 are finger mechanisms, 5 and 6 are bending joints, 7 is a swing joint, 8 is a bone structure, 9 is a palm joint, 10 is a root structural material, 11 is a swing joint, and 12 is It is an arm.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭49−58564（ＪＰ，Ａ) 特開 昭52−2951（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-49-58564 (JP, A) JP-A-52-2951 (JP, A)
Claims (1)
において、各指機構は指先端側より指根本側へ向かって
二つの連続した曲げ関節と該曲げ関節と直交し、指先端
側を側方へ傾ける横振り関節とを連結して構成され、前
記指機構のうちの少なくとも三つを他の一つと対向して
平行に配置すると共に平行に配置された少なくとも三つ
の前記指機構を前記曲げ関節と平行な手掌関節で根本構
造体に連結して当該指機構と他の一つの前記指機構との
成す角度を可変にし、更に、前記根本構造体に前記曲げ
関節及び横振り関節に直交するスイング関節を設けて、
該スイング関節にアームを介して他の一つの前記指機構
を連結することにより、当該指機構の姿勢を可変とした
ことを特徴とする指マニピュレータ。1. In a finger manipulator having a plurality of finger mechanisms, each finger mechanism extends from the finger tip side toward the finger root side in two continuous bending joints and is orthogonal to the bending joints, and the finger tip side is lateral. And a bending joint for arranging at least three of the finger mechanisms arranged parallel to each other and at least three of the finger mechanisms facing each other in parallel. A palm joint parallel to the root structure to change the angle formed between the finger mechanism and one of the other finger mechanisms, and further, a swing perpendicular to the bending joint and the swing joint on the root structure. With joints,
A finger manipulator, wherein the posture of the finger mechanism is made variable by connecting another one of the finger mechanisms to the swing joint via an arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2153920A JPH0630861B2 (en) | 1990-06-14 | 1990-06-14 | Finger manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2153920A JPH0630861B2 (en) | 1990-06-14 | 1990-06-14 | Finger manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0446787A JPH0446787A (en) | 1992-02-17 |
| JPH0630861B2 true JPH0630861B2 (en) | 1994-04-27 |
Family
ID=15572986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2153920A Expired - Lifetime JPH0630861B2 (en) | 1990-06-14 | 1990-06-14 | Finger manipulator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0630861B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4211701B2 (en) * | 2004-07-21 | 2009-01-21 | トヨタ自動車株式会社 | Robot hand gripping control device |
| JP7009072B2 (en) * | 2017-03-30 | 2022-01-25 | ダブル技研株式会社 | Finger mechanism and humanoid hand incorporating this finger mechanism |
| CN112659164A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Cross-stretch structure between fingers of simulation manipulator |
-
1990
- 1990-06-14 JP JP2153920A patent/JPH0630861B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0446787A (en) | 1992-02-17 |
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| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |