Abstract
For the robot hand of which the miniaturization is required, a new joint drive mechanism is proposed in this paper. This mechanism is composed of three members. The first member is a convex sphere with a spiral groove on the surface, and this member is the driving element of this mechanism. The second member is a concave sphere which wraps the convex sphere. At one place on the inside of this concave sphere, an internal tooth is buried. This tooth meshes with the spiral groove. This member is driven element of this mechanism, and it does the swinging motion. The third member is a spherical bearing which supports the rotating convex sphere. This spherical bearing is the fixed element of this mechanism, and it has the guide plane which decides the direction of the swinging motion. Here, the details of this mechanism are explained.
