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1. (WO2017154254) GRIPPING ROBOT, AND ROBOT HAND CONTROL METHOD

Pub. No.:    WO/2017/154254    International Application No.:    PCT/JP2016/079957
Publication Date: Fri Sep 15 01:59:59 CEST 2017 International Filing Date: Sat Oct 08 01:59:59 CEST 2016
IPC: B25J 15/08
Applicants: NAMIKI SEIMITSU HOUSEKI KABUSHIKIKAISHA
並木精密宝石株式会社
Inventors: SAITO Masahiro
斎藤 全弘
KOBAYASHI Yasuyuki
小林 保幸
NAKAMURA Kazuya
中村 一也
NAMIKI Hiroyuki
並木 弘之
Title: GRIPPING ROBOT, AND ROBOT HAND CONTROL METHOD
Abstract:
The present invention changes the position of an object to be gripped within a hand. This gripping robot is equipped with a base (21) and four or more fingers (22) having base ends supported by the base (21), and causes the fingers (22) to perform gripping operation for gripping an object (X1) to be gripped, positional change operation for changing the position of the gripped object (X1), and release operation for releasing the gripped object. The gripping robot performs: a first step wherein the object to be gripped is gripped by first gripping operation performed by at least two of the four or more fingers (22); a second step wherein the position of the object (X1) is changed by the positional change operation of the fingers (22) gripping the object (X1); a third step wherein the object (X1) is gripped by second gripping operation performed by two or more fingers (22), which include the fingers (22) other than the fingers (22) gripping the object (X1); and a fourth step wherein the fingers (22) other than the fingers (22) gripping the object (X1) in the second gripping operation are released.