Robot hand, method for controlling robot hand, method for manufacturing article using robot hand, robot device, control program and recording medium

摘要

PROBLEM TO BE SOLVED: To provide a general-purpose hand which reduces the risk of damage to workpieces when the workpieces of various shapes are held by holding means of an industrial robot hand, which sufficiently secures an area of contact between the workpiece and a holding surface, and which can hold the workpiece without damaging the workpiece even when holding the workpieces with sufficient holding force so that the workpieces cannot be displaced even in the case where transport acceleration and assembling reaction are received.;SOLUTION: A robot hand is characterized as follows: both of a curved surface and a planar part are provided on holding surfaces of fingertip parts of holding fingers 40 and 60 coming into contact with a workpiece; and a function of bringing the plurality of holding surfaces of the holding fingers 40 and 60 into contact with each other depending on an object is provided.;SELECTED DRAWING: Figure 2;COPYRIGHT: (C)2018,JPO&INPIT