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: 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: A method of measuring a welding-groove position for an over-lapped fillet welding of thin members, comprising a projection step of projecting a slit light so that the slit light is projected on both the thin members crossing a welding-groove face, a two-dimensional image acquisition step of capturing the slit-light image projected on each of the thin members as two-dimensional images; a three-dimensional conversion step of converting the two-dimensional images into three-dimensional images using a predetermined three-dimensional conversion parameter, and a calculation step of calculating the welding-groove position based on the three-dimensional data of the projected slit-light images, and relative positions between the projected slit-light images in the three-dimensional data defined by shapes and arrangement of the thin members.

Abstract: A method of measuring a welding-groove position for an over-lapped fillet welding of thin members, comprising a projection step of projecting a slit light so that the slit light is projected on both the thin members crossing a welding-groove face, a two-dimensional image acquisition step of capturing the slit-light image projected on each of the thin members as two-dimensional images; a three-dimensional conversion step of converting the two-dimensional images into three-dimensional images using a predetermined three-dimensional conversion parameter, and a calculation step of calculating the welding-groove position based on the three-dimensional data of the projected slit-light images, and relative positions between the projected slit-light images in the three-dimensional data defined by shapes and arrangement of the thin members.