A second finger 40c of a hand part 40 includes a first link member 40c1 and a second link member 40c2 that are integrally rotatable with respect to a hand base 40a, a spring 40c3, and a second finger side engagement part 40c4. The spring 40c3 biases the second link member 40c2 so that a position of the second link member 40c2 with respect to the first link member 40c1 is maintained. A second finger side engagement part 40c4 is engaged with a hand base side engagement part 40a1 when the second link member 40c2 is moved by a load applied from an object O against a biasing force of the spring 40c3.
Joint structure, hand device, robot arm and robot
2018-11-27
Patent
Electronic Resource
English