Robot Hand Assembly Having Compliant Finger Unit

• Main Authors: JEONG, YONG JUN, LEE, DEOK WON, JEON, HYEONG SEOK, KIM, YONG JAE
• Format: Patent
• Language: English; Korean
• Published: 06.09.2017
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

According to the present invention, a robot hand assembly having a compliant finger unit has a plurality of finger units comprising: a finger drive unit; a grasping unit formed to be rotated by the finger drive unit, wherein at least a portion is formed to have flexibility; and a pinching unit rotationally provided on one end of the grasping unit. The pinching unit forms a fixated angle with respect to a pinching unit of a finger unit independently different from rotation displacement of the grasping unit, and the grasping unit is rotated to be bent to an internal side in a state of being bent. According to the present invention, provided is the robot hand assembly having a degree of freedom of the hand and wrist. 본 발명에 따른 컴플라이언트 핑거유닛을 포함하는 로봇 핸드 어셈블리는, 핑거구동부, 상기 핑거구동부에 의해 회전 가능하게 형성되며, 적어도 일부가 유연성을 가지도록 형성되는 그래스핑부 및 상기 그래스핑부의 일단에 회전 가능하게 구비되는 핀칭부를 포함하는 복수의 핑거유닛을 포함하고, 상기 핀칭부는, 상기 그래스핑부의 회전 변위와 독립적으로 다른 핑거유닛의 핀칭부에 대해 고정된 각도를 형성하되, 상기 그래스핑부가 휘어진 상태에서는 내측으로 굽혀지도록 회전된다.