Abstract: A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.

Abstract: An alignment assembly includes a shaft, a first gripper coupled to the shaft, and a second gripper coupled to the shaft. The first gripper includes a fixed gripper body and a first rotating gripper body rotatingly coupled to the fixed gripper body. The second gripper may include a second rotating gripper body and a third rotating gripper body. An axis pivot rotatingly couples the second rotating gripper body and the third rotating gripper body.

Abstract: The present invention is a highly-efficient barrel placement device comprised of an attachment plate which attaches to the front of a skid steer loader; tubular support members; and a plurality of barrel pincers with gears that allow the barrel pincers to move in unison with the use of a single hydraulic cylinder. The hydraulic cylinder has hydraulic lines which connect to the auxiliary controls of a skid steer loader allowing the barrel pincers to be controlled to grasp and release traffic barrels from the interior of the skid steer loader.

Abstract: An improved severe duty grapple for attachment onto the end of a dipper stick of a backhoe has an arcuate-shaped upper jaw with an inner end and a backside. The upper jaw is pivotally attached near its inner end on its backside to the end of a dipper stick and a double action actuator or cylinder for operative pivotal movement of the upper jaw relative to the dipper stick. An arcuate-shaped lower jaw is provided with an inner end and a backside. The lower jaw is attached near its inner end on its backside to the dipper stick by a linkage for operative pivotal movement of the upper jaw relative to the lower jaw. A hollow tubular pivot is attached to the inner end of one of the jaws with open opposing ends. Two lug plates are mounted on the inner end of the other jaw each with an eyelet. The eyelets are alignable with the open ends of the tubular pivot. A pivot pin is passed through the tubular pivot and eyelets and secured thereat.

Abstract: The invention relates to a device for gripping containers and bottles (3), particularly PET bottles, in container handling systems, such as in filling systems, particularly for transitioning and transferring from star to star, or to a filler, a rinser, or the like, having a drive and actuator bringing about the opening and closing of the gripper arms (4a, 4b), particularly designed as a pusher body (7), wherein the device for gripping is made substantially of two component assemblies. The first component assembly comprises those components that are subject to severe wear, and the second, machine-side component assembly comprises components that are subject to no or nearly no wear. The first component assembly is pivotally supported on the second component assembly and easily removably connected thereto.

Abstract: A grasping device includes a first member, a fixed member fixed to the first member, a first finger member fixed to one end of the first member, a slide mechanism fixed to the first member, a first slider member slidably attached to the slide mechanism, a second member fixed to the first slider member at one end thereof, a guide mechanism fixed to the second member, a second slider member slidably attached to the guide mechanism, a second finger member fixed to the second slider member, and a displacement increasing mechanism that transmits a relative displacement between the fixed member and the first slider member to the second slider member.

Abstract: The invention relates to a device (1) for gripping PET bottles (2) in bottle-filling systems, particularly for transferring from star to star/filler/rinser or the like, wherein a slight horizontal turnout motion of the gripper is made possible, while simultaneously exerting a return force into the original aligned position of the gripper arms. The aim is achieved in that a mounting element (4) comprising a gripper arm (3a, 3b) is rotatably supported about an axis (5) parallel to the central bottle axis, and has a centering device forcing the mounting element (4) to the centered position after a sideways deflection motion.

Abstract: A clamp for clamping a blade for a wind turbine is provided. The clamp includes a first contact surface adapted to contact a portion of a surface of the blade and a second contact surface adapted to contact another portion of the surface of the blade. The second contact surface is displaceable relative to the first contact surface. The clamp also includes a bar connected in an adjustable orientation relative to the first contact surface. Further, a method of installing wind turbine blades at a hub rotatable around a rotation axis along a horizontal direction is provided.

Abstract: A clamping assembly for use in gripping an object. The clamping assembly includes a pair of opposed jaws, with each jaw having a pivot end pivotally attached to a frame structure, a clamp end opposite the pivot end, and a socket located between the clamp end and the pivot end. The clamping assembly further includes first and second balls rotatably mounted in the sockets of the opposed jaws, and a gear assembly connected to both of the first and second balls that includes a primary gear mechanically associated with a power source. Rotation of the primary gear by the power source results in actuation of the clamping assembly.

Abstract: A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.

Abstract: An industrial gripper includes a base plate, at least three finger units to be moved relative to the base plate, a supporting unit to support the finger units, a first drive unit coupled to the supporting unit to allow simultaneous angular displacement of the finger units toward an object, and a second drive unit coupled to the supporting unit to adjust orientation angles between the finger units. Each of the finger units includes an intermediation member to be moved in a first direction by the first drive unit, a grip member to grip the object by being moved in a second direction different from the first direction as a movement direction of the intermediation member, and a connection member to convert the first direction movement of the intermediation member into the second direction movement of the grip member.

Abstract: A machine for treatment and/or analysis of biological samples, including a hinged arm to which a clamp for gripping a first biological sample holder is fixed. The clamp including first and second arms able to move relative to each other along a gripping position between a first position of gripping the first biological sample holder, and a first position of releasing the biological sample holder. Each arm of the clamp includes a groove. When the first and second arms are in the first position of release, the first and second grooves are spaced away from each other along the gripping direction, and when the first and second arms are in the first gripping position, the first and second grooves are brought closer to each other along the gripping direction, so as to be able to receive lateral edges of the first biological sample holder, so as to grip it by squeezing the lateral edges along the gripping direction.

Abstract: An inserter including a pocket for holding an unevenly folded printed product having a fold edge, a first section on a first side of the fold edge and a second section on a second side of the fold edge that is at least 20 percent shorter than the first section is provided. The pocket includes a lower support surface for supporting the fold edge, a first wall for supporting the first section and a second wall for supporting the second section. The first and second walls each have at least one cutout defined therein. The at least one cutout of the second wall includes a lower cutout edge that is less than a length of the second section away from the lower support surface. The inserter also includes a gripper for securely gripping unevenly folded printed product and removing the unevenly folded printed product from the pocket by passing through the at least one cutouts in the first and second walls. A method of inserting an insert into an unevenly folded printed product is also provided.

Abstract: The present invention relates to a connection system for use with an active or passive protection device that minimizes weight. In accordance with the present invention, a single stem connection system for use with an active protection device includes a single bent cable that is attached to the single cable terminal of the active protection device. A stem tube is fitted over a portion of the bent cable giving the appearance and benefits of a single stem. However, a portion of the bent cable is left separated thereby automatically forming a clip-in point for the entire active protection device. Unlike conventional single stem connection systems, the single stem system in accordance with the present invention only requires coupling the cable to the cable terminal thereby reducing manufacturing cost and minimizing overall weight. Alternatively, a similar connection system can be used with a passive protection device to provide many of the same benefits.

Abstract: The present invention relates to a connection system for use with an active or passive protection device that minimizes weight. In accordance with the present invention, a single stem connection system for use with an active protection device includes a single bent cable that is attached to the single cable terminal of the active protection device. A stem tube is fitted over a portion of the bent cable giving the appearance and benefits of a single stem. However, a portion of the bent cable is left separated thereby automatically forming a clip-in point for the entire active protection device. Unlike conventional single stem connection systems, the single stem system in accordance with the present invention only requires coupling the cable to the cable terminal thereby reducing manufacturing cost and minimizing overall weight. Alternatively, a similar connection system can be used with a passive protection device to provide many of the same benefits.

Abstract: A multi-joint finger unit (1) has first and second joint sections (3, 5) constructed by using bevel gears. In each joint section (3, 5), the section where a driving bevel gear (10, 44) and a driven bevel gear (14, 56) mesh with each other and also a bearing section of a joint shaft (15, 57) are assembled in a tubular housing (13, 51) whose forward end is closed. Rear end openings (13A, 52) of the tubular housings (13, 51) are closed by a tubular housing (7) at a finger root and a tubular housing (41) at a finger body section. The section where the gears of the joint sections (3, 5) mesh and the bearing section are substantially sealed, so that a foreign matter is prevented from entering from the outside to these sections and lubricant does not leaks from these sections. The multi-joint finger unit is suitable for use in place where thick powder dust is present and in a clean room.

Abstract: When dishes are held by means of a robot hand (10), its fixed side engaging plate (13) and movable side engaging finger (14) are moved under horizontal state toward a dish (20) to be handled, and the outer circumferential edge side portion of the dish (20) is inserted between them. The distal end portion (14b) of the movable side engaging finger (14) is then bent by a predetermined amount to the side of the dish (20) and the robot hand (10) is raised. Consequently, the dish (20) is brought into a state where it is held by its own weight between the fixed side engaging plate (13) and the movable side engaging finger (14). Thereafter, the right and left first finger units (15, 16) are bent to the side of the dish (20) and the dish (20) is pushed by their dish pushing faces (15g, 16g), thus bringing about such a state as the dish (20) is held surely between the fixed side engaging plate (13) and the movable side engaging finger (14).

Abstract: A robot includes a base unit, at least two link mechanisms arranged on the base unit, drive units capable of bending and expanding the link mechanisms, and a control unit controlling the drive units. At least one drive unit has a drive force larger than those of the other drive units, and the other drive units are passively displaced by external forces larger than their own drive forces.

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 gripping organ for load-moving vehicles comprises a support structure (7), removably engageable to a support arm (4) of a load-moving vehicle (2); at least gripping pliers (8), operatively engaged to the support structure (7) and predisposed to engage at least an object (P) to be moved, the gripping pliers (8) comprising at least a pair of gripping elements (16) which are mobile between an operating position, in which the gripping elements (16) engage the object (P), and a non-operating position, in which the gripping elements (16) are disengaged from the object (P); the pliers (8) being translatable along a translating direction (A) and rotatable about a rotation axis (B) which is perpendicular to the translating direction (A).

Abstract: A connecting and adapting system for interconnecting a pair of jaws of a grapple assembly and for adapting the grapple assembly for connecting to a plurality of linkages. The system includes bearings, where the bearings have a flange, an elongated section, and a bore. The flange of the bearings abuts a portion of one of the jaws, the elongated section of the bearings interconnects the jaws, and the bore of the bearing receives a pin to provide a connecting location. A portion of the bearing, being positioned opposite the flange, receives a collar that abuts a portion of one of the jaws.

Abstract: The hydraulic crane-mounted remotely-controlled lifting device (10) includes a housing (26) having hydraulically-operated, grasping members (16), (44, 46) that will permit the removal of limbs from the trunk of the tree without having a climber to move out on each limb to secure the lifting device (10). The device (10) can be easily attached and detached from the end of the crane's cable (12) and requires no other physical connection to the crane other than the cable. The device (10) is self-contained in that all hydraulic mechanisms (30, 32), including an electric power source (34) for operating the hydraulic mechanisms, are enclosed in the housing (26). A wireless control device (22) permits the crane operator to position the pair of grasping members around the designated tree limb from a remote position.

Abstract: The grasping system is a farm implement used for moving bales. The grasping system has an upper rail assembly attached by a connecting assembly to a base. The upper rail assembly closes onto a bale and a spike strip pierces the bale and any covering. The bale is then moved and any covering is cut. The upper rail assembly is released from the bale by the connecting assembly.

Abstract: A gripping device for gripping a printed product including a rotatable first gripper arm having a first gripper pad and a pivot, a rotatable second gripper arm having a second gripper pad and a pivot, a first link connecting the first gripper arm and second gripper arm and a second link having a spring connected to the first link. A method is also provided.

Abstract: The invention relates to a handling system for transporting, removing or inserting rod-like elements from or into a storage frame (18), the rod-like elements, like smoking rods, serving for storing products, each having a sausage-shaped body (44) and a loop (42) for a pendulously storage of the products (W). The handling system comprises a robotic device (22) with at least one robotic arm (24) being movably in three dimensions, at least one gripping device (26) for reversibly gripping the rod-like elements, wherein the gripping device (26) is attached to the robotic arm (24) of the robotic device (22). Moreover, a preventing unit (52) for preventing uncontrolled movement of the products (W) hanging up on the rod-like elements is provided.

Abstract: A multi-fingered robotic hand comprises a base, a rotation member rotatably connected to an end of the base, a driving means, and a plurality of digits. The driving means is configured for driving the rotation member to rotate. Each digit comprises a proximal phalanx, a middle phalanx and a first transmission member. The proximal phalanx is connected to the rotation member. The middle phalanx is rotatably connected to the proximal phalanx. The first transmission member includes two ends respectively attached to the proximal phalanx and the middle phalanx, wherein the first transmission member is configured for transmitting rotation of the proximal phalanx to the middle phalanx.

Abstract: A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.

Abstract: To provide a clamping device capable of clamping an object even when variations are large, and a wheeled platform. A clamping device 10 includes an actuator that moves straight, a link 2 that extends in a direction perpendicular to a straight-movement direction of the actuator, and a clamp portion 3 rotatably attached at both ends of the link 2, the clamp portion comprising a nail portion 3a to clamp a portion to be clamped 8. The actuator moves straight and the clamp portion 3 rotates in such a manner that the clamp portion 3 opens from the inside toward the outside to clamp the portion to be clamped 8.

Abstract: Systems and methods which provide an adjustable tine clamp configuration are shown. Embodiments provide an adjustable support member configuration which is adapted to maintain a desired geometry of tines throughout an adjustable range. The adjustable support members are preferably adjustable to provide selectable clamping widths, such as to accommodate manipulation of goods of different sizes and shapes. Embodiments utilize parallel links coupled to pivoting tine supports to maintain proper tine geometry throughout the full range of adjustment. Such parallel links are further preferably utilized to actuate associated tines in operation of the adjustable tine clamp. Embodiments further implement a short stroke actuator configuration to facilitate very rapid production cycles.

Abstract: The invention provides a contact lens gripper comprising a tweezers gripper having first and second gripper arms hingedly connected to an actuation support for moving the free ends of the arms towards and away from each other so as to grasp and release a soft contact lens. The invention also provides a contact lens gripping unit comprising a mounting bar to which a plurality of individual contact lens grippers are mounted at a predetermined distance from each other, wherein each of the individual grippers is a contact lens gripper according to any one of the preceding claims.

Abstract: An assembly and method for releasably connecting a gripper finger to a robotic arm needing only manual manipulation to operate. The assembly includes a finger body having a quick-change bar connected to a locking lever. The locking lever can be rotated by hand to engage and disengage the assembly to connect a finger to a gripper connected to a robot. The locking lever provides a sleeve and pin which interact to lock the assembly. The sleeve and pin can have recessed surfaces formed to interact with roll pins or screws to restrict behavior of the quick-change device during engagement.

Abstract: The present invention relates to a handling clamp, designed to grasp a stem fixed to a load and equipped with at least one attachment means. The stem is capable of moving between a lower position in the handling clamp and an upper position in the handling clamp when the handling clamp is closed on the stem. When the stem is in the lower position, the handling clamp is capable of being locked closed. When the stem is in the upper position, the handling clamp is capable of being unlocked. The handling clamp of the present invention is particularly adapted for use in the aluminium industry.

Abstract: A gripping assembly with gripping members, as part of a grapple attachment, used to grasp and manipulate elongated objects, for example pipe, is described. Due to the gripping action of the gripping members and tilt control capabilities of the grapple attachment, total positive control of the pipe is maintained, even if the gripping assembly picks up pipe off center. The grapple attachment is able to be used on all pipe surface types, including pipe surfaces that are dirty, snow or ice covered. The gripping members are configured to prevent damage to the pipe and to adjacent pipes, and will not crush the pipe.

Abstract: A gripping device includes a gripping-device body mounted to an end of a working arm; two gripping members pivotably supported by this body in an opening-closing direction; and a driver that drives the gripping members to open and close them. At least one of the gripping members includes one of various kinds of detachable sections each including a gripping segment; a holding section pivotably connected to the gripping-device body about a central pivot shaft and selectively holding the detachable section in a detachable manner; and a coupling member for detachable coupling. The detachable section has a restrained segment having a detachable-section through-hole extending parallel to the central pivot shaft. The holding section has an opening-closing-direction restraining segment that restrains the restrained segment in the opening-closing direction and a holding wall to which the restrained segment is fastened with the coupling member from a direction parallel to the detachable-section through-hole.

Abstract: A wire gripping assembly is provided with a pair of lever arms that are each movable between a gripping position and a release position. Each lever arm includes a plurality of engagement teeth that interact with drive teeth formed on a moving rack member. The rack member is coupled to a piston movable within an open interior of a drive cylinder. Pressurized air is supplied to either side of the piston to move the piston and rack member. The movement of the piston and the rack member within the drive cylinder results in pivoting movement of the first and second lever arms between the gripping position and the release position.

Abstract: Gripping pliers (1) for grasping and holding an object that include at least two gripping jaws (2), movable in reference to each other, are provided, along with a drive for an opening and closing motion of the gripping jaws (2). At least one of the gripping jaws (2) includes several fingers (3), arranged side-by-side in reference to each other with each being individually adjustable against a restoring force, approximately in an opening and closing direction. The gripping jaws (2) are each embodied in one piece with their respective fingers.

Abstract: The disclosure relates to a work tool for a machine and, more particularly, to such a work tool having an actuatable tool portion. According to one exemplary aspect of the disclosure there is provided a work tool for attachment to a machine, comprising a supporting tool portion. The actuatable tool portion is pivotally connected to the supporting tool portion via a hinge construction. The hinge construction includes a hinge drive having an outgoing, rotatable shaft. The rotatable shaft has a single outgoing end that is configured to carry the actuatable tool portion. By providing the work tool with a hinge construction that includes a hinge drive with an rotatable shaft that carries the actuatable tool portion on a single outgoing end a directly driven hinge construction is obtained that is both compact and reliable. The disclosure also relates to a hinge drive and to a method of operating a work tool for a machine.

Abstract: A clamping apparatus is provided employing a forced open function to achieve accurate frictionless adjustment. In an embodiment, a shaft (60) is held by the inventive clamping cell (40) which comprises a clamping block (302) and a screw (304) with two different thread sizes. Nuts (306, 308) with different threads are respectively backed in and out as the screw (304) is turned. The shaft position is thus adjusted to within a required tolerance without causing any friction forces on the shaft (60).

Abstract: A gripper device, having two rotably connected gripper arms substantially longer than the length of the trigger handle structure, is taught. The arms open when the handle is squeezed and close when handle is released. Each arm has a set of grip and hold hooks. Together, the first grip and hold hook on each arm grips and holds a pair of socks for putting on, while the second grip and hold hook grips and holds socks on a wearer's foot for removal. The device grips and holds up to 25 pounds and grips and lifts up to five pounds. A thumb lock can lock the jam plate into a position relative to the plunger rod providing for unrestricted upward and downward movement of the rod, but when in unlocked position the plunger rod has unrestricted downward, but restricted upward motion allowing for the setting of many width openings.

Abstract: One or more embodiments of a flexible manipulator tools are provided. The flexible manipulator tool can include a distal end movable in at least one manipulation plane with respect to a proximal end. The flexible manipulator tool can also include at least two cheeks extending side by side to and spaced apart from each other.

Abstract: A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.

Abstract: A workpiece transport device for a forming machine includes at least one gripping tongs, which has two non-crossing gripper arms that are pivotable with respect to one another, where the arms each have a gripping end for gripping a workpiece. Each of the two gripper arms are articulated at ends opposite from the gripping end on a common guide head and, in a middle region between the two ends, and on its own link bar. The two link bars are each rotatable about a fixed pivot, wherein the fixed pivot of the link bar of one gripper arm is arranged closer to the other gripper arm than is the fixed pivot of the link bar of the other gripper arm.

Abstract: A gripper for use with a robot includes a support body for removably attaching the gripper to a moveable arm and a workpiece contact body having a groove extending along at least a portion of the contact body for engaging a curved outer edge of the workpiece. A coupling member connects the support body to the workpiece contact member and includes a flexure component that flexes to allow radial and/or tangential relative movement of the workpiece contact body with respect to the support body to diminish slippage between the workpiece and the contact body as the gripper engages the workpiece.

Abstract: A force sensor is disposed on a hand attaching base portion, a finger base on which a pair of fingers are placed so as to be opposed to each other is disposed on a measuring unit of the force sensor, a finger driving mechanism base is disposed on the hand attaching base portion in a manner so as not to be made in contact with none of the force sensor, the finger base and the fingers, finger driving mechanisms are disposed on the finger driving mechanism base so that vectors of driving forces, which allow the pair of the opposed fingers to move so as to open or close, are made face to face with each other within a plane on which the pair of the opposed fingers are moved to open or close so as to be cancelled with each other, with the result that the fingers are driven so as to make the resultant force virtually zero, and an actuator, which is positioned at a place other than the hand attaching base portion, the force sensor, the finger base, or the fingers and the finger driving mechanism base, and drives the

Abstract: An embodiment is a robotic arm end effector. The end effector generally comprises an actuator assembly, a positioning palm assembly, a claw assembly, a tamp assembly, and an end plate. The end effector of an embodiment may grasp and move bulk items. More specifically, the end effector of an embodiment may grasp bulk items and/or products contained in bags or sacks, move them, and deposit and/or stack the bags or sacks. For example, the end effector of an embodiment may grasp products such as grass or other agricultural seed contained in a synthetic (e.g., poly-weave) or natural fiber bags and stack them on a pallet.

Abstract: A robot hand apparatus (1) includes four of finger mechanisms (20) each elongates from a base (10), a motor (30) actuating each finger mechanism (20), four of rotation rollers (50) each connects with corresponding finger mechanism (20) for actuating each finger mechanism (20), and a power transmission mechanism (60) transmitting a power from the motor (30) to each rotation roller (50) at different timing.

Abstract: A mechanical finger comprises at least three phalanges, with a base phalanx pivotally connected at a proximal end to a base. At least one intermediate phalanx is pivotally connected at a proximal end to a distal end of the base phalanx. An end phalanx is pivotally connected at a proximal end to a distal end of a distal-most one of the at least one intermediate phalanx. The phalanges pivot about parallel pivot axes. A transmission linkage is between the base and the end phalanx. The transmission linkage has links and joints unconnected to any of the phalanges other than the end phalanx, the transmission linkage being configured so as not to constrain the degrees of freedom of the mechanical finger.

Abstract: The disclosure describes a novel approach of utilizing a front loading waste collection vehicle. A gripper system is added to the fork tube of a front loading waste collection vehicle. The gripper system allows a front loader to lift and dump waste bins into the truck's hopper for the collection of trash, recyclables and/or other materials.

Abstract: A multi-fingered robot hand having a minimum required number of joints in finger mechanisms and capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion (8) provided with three finger mechanisms (2, 3, 4) each connected by a root joint (12); a second palm portion (9) provided with one finger mechanism (1) connected by a root joint (13); and a palm joint (10) connecting the first palm portion (8) and the second palm portion (9). The palm joint (10) permits a variation in the connection angle of the second palm portion (9) to the first palm portion (8). The palm joint (10), bending joints (5), bending joints (6) of the root joints (12) and the root joint (13) have rotation axes parallel to each other, and the finger mechanisms (1, 2, 3, 4) bend while turning around the rotation axes.

Abstract: A work holding mechanism for horizontally holding a flat work is incorporated in work transport equipment. The holding mechanism includes a base member for supporting the work and a plurality of guide members provided at the base member. Each guide member includes a shaft, a contact portion and a limit portion. The shaft is pivotally supported by the base member. The contact portion comes into contact with part of the lower surface of the perimeter of the work and is pushed down, with the shaft as a fulcrum, when the work is placed on the base member. The limit portion is raised, with the shaft as a fulcrum, to face part of the side surface of the perimeter of the work when the contact portion is lowered.