Abstract: The robot hand includes a planetary gear unit into which a rotational power is input from a motor, first and second drive shafts to which a rotational power output from the planetary gear unit is transmitted, a finger having first and second joints respectively driven by the first and second drive shafts. The planetary gear unit includes a sun gear, a planetary gear meshing with external teeth of the sun gear, a planetary arm connected to the planetary gear to coordinately move with a rotation of the planetary gear on its on axis. The sun gear is connected to the motor. The planetary arm is connected to the first drive shaft. An internal gear is connected to the second drive shaft. A resistance generating unit is disposed for making the motion resistance of the internal gear lager than the motion resistance of the planetary arm.

Abstract: A robot hand is configured such that a plurality of finger mechanisms are disposed on base and operate so as to cause fingertip portions thereof to get close to each other and separate from each other. At least one of the plurality of finger mechanisms is constituted by a Chebychev link mechanism including a driving link configured to be rotated about a base end portion thereof supported by the base, a driven link having a base end portion coupled to the base so as to be swingable, and an intermediate link having a base end portion coupled to a tip end portion of the driving link so as to be swingable and a center portion coupled to a tip end portion of the driven link so as to be swingable. The fingertip portions are respectively provided at tip end portions of the intermediate links.

Abstract: An articulated manipulation device for increasing work volume that includes six links and corresponding joints. A first link connects to a base for rotation about a rotational axis aligned with the axis of the first link. A diagonal joint connects the first and second links, the second and third links, the third and fourth links and the fifth and sixth links. A coaxial joint connects the fourth and fifth links. The joints and links are configured to permit parallel and perpendicular axial rotation according to the specific arrangement of the links and angles of rotational inclination. The articulated manipulator has a large work volume.

Abstract: A positioning data calculating procedure calculates analytically relative rotation angles for the links arranged in series to form an articulated manipulator to locate an object in a desired orientation at a desired position. Coordinate expressions including an x-coordinate expression representing the x-coordinate of a triaxial intersection point, a yz addition coordinate expression representing the sum of the y- and the z-coordinate of the triaxial intersection point, and a yz subtraction coordinate expression representing the remainder of subtraction of the z-coordinate from the y-coordinate of the triaxial intersection point, and including first to third rotation angles corresponding to rotation angles through which the second link is turned relative to the first link, through which the third link is turned relative to the second link, and through which the fourth link is turned relative to the third link as variables are solved.

Abstract: An articulated manipulator includes a first link c1, a second link c2, a third link c3, a fourth link c4, a fifth link c5 and a sixth link c6. The first link c1 is connected to a base 21 for rotation about a rotation axis aligned with the axis of the first link c1, the first and the second link are connected by a diagonal joint d2, the second and the third link are connected by a diagonal joint d3 so as to be turnable about a rotation axis L3 parallel to a rotation axis L2 about which the first and the second link are turned, the third and the fourth link are connected by a diagonal joint d4 so as to be turnable about a rotation axis L4perpendicular to the rotation axes L3, the fourth and the fifth link are connected by a coaxial joint d5, and the fifth and the sixth link are connected by a diagonal joint d6. The articulated manipulator has a large work volume.

Abstract: A positioning data calculating procedure calculates analytically relative rotation angles for the links arranged in series to form an articulated manipulator to locate an object in a desired orientation at a desired position. Coordinate expressions including an x-coordinate expression representing the x-coordinate of a triaxial intersection point, a yz addition coordinate expression representing the sum of the y- and the z-coordinate of the triaxial intersection point, and a yz subtraction coordinate expression representing the remainder of subtraction of the z-coordinate from the y-coordinate of the triaxial intersection point, and including first to third rotation angles corresponding to rotation angles through which the second link is turned relative to the first link, through which the third link is turned relative to the second link, and through which the fourth link is turned relative to the third link as variables are solved.