专利名称：Robot hand and robot arm发明人：Yasunao Okazaki,Masaki Yamamoto申请号：US12670421申请日：20090624公开号：US08157305B2公开日：20120417
专利附图：
摘要：A force sensor is disposed on a base portion, a finger base on which a pair offingers are opposed to each other is disposed on a measuring unit of the force sensor, afinger driving mechanism base is disposed on the base portion so as to not contact theforce sensor, the finger base or the fingers, and finger driving mechanisms are disposed
on the finger driving mechanism base so finger opening and closing driving force
vectorsface each other within a plane on which the pair of the opposed fingers are movedto open or close so as to cancel each other, such that the fingers are driven so theresultant force is virtually zero. An actuator, is installed at a place other than the baseportion, the force sensor, the finger base, or the fingers and the finger driving mechanismbase, and drives the finger driving mechanism.
申请人：Yasunao Okazaki,Masaki Yamamoto
地址：Shiga JP,Nara JP
国籍：JP,JP
代理机构：Wenderoth, Lind & Ponack, L.L.P.
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