ROBOT HAND

FIELD: robot hands designed for performing technological operations or for using in human-like robots in order to eliminate aftereffects of catastrophes and accidents, in condition of radioactive, chemical or bacteriological pollution. ^ SUBSTANCE: robot hand included hinged four-link chain having three rotary links and grip. Links are in the form of X-like tubes in which pneumatic cylindrical muscles and antagonists are arranged. Flexible metallic rods are secured to bottoms of antagonists and muscles. Grip is in the form of two (placed one on other) parts; one part is movable member, other part has three metallic plates mutually joined by hinges. Flat pneumatic muscles are rigidly secured to inner sides of both parts. Transmission of efforts between links and positioning of grip are realized by means of chain transmission. ^ EFFECT: possibility for providing operation of robot hands at emergency condition, resistance against radioactive and electromagnetic irradiation, improved operational reliability. ^ 5 dwg