The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 09, 1993
Filed:
Oct. 17, 1991
Applicant:
Inventors:
Akifumi Inoue, Shizuoka, JP;
Toru Ishii, Shizuoka, JP;
Assignee:
Yamaha Corporation, Hamamatsu, JP;
Attorney:
Primary Examiner:
Assistant Examiner:
Int. Cl.
CPC ...
B25J / ;
U.S. Cl.
CPC ...
414735 ; 269 71 ; 7447 / ; 901 29 ;
Abstract
A robot hand is implemented by a wrist mechanism coupled with a retaining member for allowing a work to rotate around a first axis, and the wrist mechanism comprises a first bracket member rotational around a second axis and a second bracket member holding the retaining member and rotational with respect to the first bracket member around a third axis, wherein the first to third axes cross at a virtual point within a virtual space occupied by the work so that a distance between the virtual point and a center of the work is decreased, thereby delicately controlling the attitude of the work.