Robot hand, robot device and method of manufacturing robot hand
A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
1. A robot hand comprising:
a first member that has a tip portion, a first ball portion, and a second ball portion formed as a single piece, has a bending portion, and has a first surface in a direction in which the bending portion bends;
a second member having a tip portion, a first ball portion, and a second ball portion that is adapted to contact an object, the tip portion of the second member being attached to and covering the first surface of the tip portion of the first member, the first ball portion of the second member being attached to and covering the first surface of the first ball portion of the first member, and the second ball portion of the second member being attached to and covering the first surface of the second ball portion of the first member, wherein the second member is more elastically deformable than the first member; and
a chamber that is located between the first member and the second member.
2. The robot hand according to claim 1 , comprising:
a third member that is rotatably provided to the bending portion.
3. The robotic hand according to claim 2 , comprising:
an elastic member that is provided between the first member and the third member.
4. A robot device comprising:
a robot body; and
the robot hand according to claim 3 operatively associated with the robot body.
5. A robot device comprising:
a robot body; and
the robot hand according to claim 2 operatively associated with the robot body.
6. A robot device comprising:
a robot body; and
the robot hand according to claim 1 operatively associated with the robot body.
7. A robot device comprising:
a first arm that includes a first robot hand, and
a second arm that includes a second robot hand, wherein the first and second robot hands are configured to hold an object,
wherein each of the first and second robot hands includes:
a first member that has a tip portion, a first ball portion, and a second ball portion formed as a single piece, has a bending portion, and has a first surface in a direction in which the bending portion bends,
a second member having a tip portion, a first ball portion, and a second ball portion that is adapted to contact an object, the tip portion of the second member being attached to and covering the first surface of the tip portion of the first member, the first ball portion of the second member being attached to and covering the first surface of the first ball portion of the first member, and the second ball portion of the second member being attached to and covering the first surface of the second ball portion of the first member, wherein the second member is more elastically deformable than the first member, and
a chamber that is located between the first member and the second member.