公开(公告)号：EP1645374A1

公开(公告)日：2006-04-12

申请号：EP05021848.6

申请日：2005-10-06

申请人： FANUC LTD

发明人： Nihei, Ryo ,  Ban, Kazunori ,  Sato, Takashi Room8-107, FANUC Manshonharimomi ,  Tamura, Toshinari ,  Hatanaka, Kokoro Room6-305, FANUC Manshonharimomi

IPC分类号： B25J13/08 ,  B25J9/16 ,  B25J15/08

CPC分类号： B25J9/1612 ,  B25J13/082 ,  B25J15/08 ,  Y10S294/907

摘要： A gripping type hand including a plurality of finger mechanisms (18) provided respectively with finger joints (12), actuators (14) for driving the finger joints, and links (16) supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section (20) capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section (22) for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections (24) provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.

摘要翻译： 夹持型手包括分别设置有手指接头（12）的指状机构（18），用于驱动手指接头的致动器（14）和由手指接头支撑并且在致动器的驱动力下操作的连杆（16） 。 夹持型手包括能够彼此独立地分别地控制多个手指机构的致动器的操作控制部（20） 位置检测部分（22），用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分（24），分别为多个手指机构提供并且由于施加到手指机构的力而检测在链节中产生的应变。 操作控制部分基于由位置检测部检测到的手指关节的操作位置和由该检测部分检测到的链节的应变来协调地控制多个手指机构的致动器来调整由多个手指机构产生的夹紧力 应变检测部分。