Abstract: The strain wave gearing includes a rigid internally toothed gear, a flexible externally toothed gear that is disposed coaxially therein and is flexible in the radial direction, and a wave generator that is disposed coaxially inside the externally toothed gear. The flexible externally toothed gear is bent in the radial direction by the wave generator and meshes with the rigid internally toothed gear in sections. When the position of meshing of the rigid internally toothed gear with the flexible externally toothed gear moves in the circumferential direction as the wave generator rotates, a relative rotation that corresponds to the difference in number of teeth of the two gears is generated between the two gears. A vibration-powered generator is disposed on the flexible externally toothed gear. The vibration-powered generator is provided with a piezoelectric element.

Abstract: In a wave gear device, an involute tooth profile with the low pressure angle ? (<20°) is employed as a basic tooth profile of external teeth of a flexible external gear. In the principal section of the external teeth, the tooth depth thereof satisfies 2?0mn=2(1+c) mn (deflection coefficient ?0=1+c, 0<c<0.5), which is larger than the standard one. The shifting of the teeth which takes into account coning is performed along the tooth trace direction of the external teeth, so that straight portions of a rack tooth profile on the respective sections perpendicular to the axis in the tooth trace direction of the external teeth are conformed as viewed along the tooth trace direction. The rack tooth profile of the involute tooth profile is a straight line.

Abstract: The strain wave gearing includes a rigid internally toothed gear, a flexible externally toothed gear that is disposed coaxially therein and is flexible in the radial direction, and a wave generator that is disposed coaxially inside the externally toothed gear. The flexible externally toothed gear is bent in the radial direction by the wave generator and meshes with the rigid internally toothed gear in sections. When the position of meshing of the rigid internally toothed gear with the flexible externally toothed gear moves in the circumferential direction as the wave generator rotates, a relative rotation that corresponds to the difference in number of teeth of the two gears is generated between the two gears. A vibration-powered generator is disposed on the flexible externally toothed gear. The vibration-powered generator is provided with a piezoelectric element.

Abstract: In a wave gear device, an involute tooth profile with the low pressure angle ? (<20°) is employed as a basic tooth profile of external teeth of a flexible external gear. In the principal section of the external teeth, the tooth depth thereof satisfies 2?0mn=2(1+c) mn (deflection coefficient ?0=1+c, 0<c<0.5), which is larger than the standard one. The shifting of the teeth which takes into account coning is performed along the tooth trace direction of the external teeth, so that straight portions of a rack tooth profile on the respective sections perpendicular to the axis in the tooth trace direction of the external teeth are conformed as viewed along the tooth trace direction. The rack tooth profile of the involute tooth profile is a straight line.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.