FIELD: technological processes.
SUBSTANCE: hand contains a palm and at least one finger pivotally connected to the palm and containing at least one phalanx and a pivot joint. The pivot joint connects the phalanx, which runs in the main direction, to the palm and contains an elastic connecting element providing several degrees of freedom. The hand contains a motorization device ensuring the degree of freedom when rotating from the degrees of freedom provided by the connecting element. And the motorized degree of freedom during rotation provides relative movement around the axis at right angles to the main direction of the phalanx. Other degrees of freedom, provided by the connecting element, are not motorized. The elastic connecting element has a neutral position defined in such a way that the motorization device provides an angular movement of the pivot joint containing the elastic connecting element in question to both sides of the neutral position.
EFFECT: simplification of the production of an anthropomorphic robot hand while maintaining its suitability for capturing objects of various shapes, and also improvement of the compliance of the finger to the shape of objects that it may encounter.
11 cl, 6 dwg
