抄録
This paper presents the development of simple structure and light weight robot finger which can grasp various shapes of objects by self adapting to their shapes. This finger was designed for grasping object which is used in daily life, in order to use for prosthesis. This finger consists of three phalanges, interconnected by the joints of leaf spring. The three phalanges are driven by a single tendon. First, mathematical model of the finger was constructed in order to optimize dimensional design for distributed forces to each phalanx. Second, finger was made and grasping experiment was made. Finally, the results of maximum ejection force for the finger are presented.
