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:
Jul. 07, 2009
Filed:
Mar. 30, 2004
Junji Koyama, Minamiazumi-gun, JP;
Junji Koyama, Minamiazumi-gun, JP;
Harmonic Drive Systems Inc., Tokyo, JP;
Abstract
A multi-finger grasping mechanism (), comprising three two-joint finger units (-to-). Each two-joint finger unit further comprises a finger root part (), a finger root side joint part (), a finger intermediate part (), a finger tip side joint part (), and a finger tip part (). The finger intermediate part () can be swung about the joint axis () of the finger root side joint part (), and the finger tip part () can be swung about the joint axis () of the finger tip side joint part (). The finger tip part () can be swung about the center axis thereof. When a bolt (W) is held by the finger tip part () and the finger part () is rotated, the tightening operation of the bolt (W) can be performed.