MULTI-DEGREE-OF-FREEDOM JOINT DRIVING MECHANISM

摘要

PROBLEM TO BE SOLVED: To provide a multi-degree-of-freedom joint driving mechanism with a small number of components capable of realizing the miniaturization and weight reduction. SOLUTION: A first rotating joint 5 is arranged to a first structure 1. A second rotating joint 7 is arranged to a second structure 2 connected with the first structure 1 by the first rotating joint 5. The first rotating joint 5 and a rotating shaft are nearly perpendicular to each other. The second structure 2 and a third structure 3 are connected by the second rotating joint 7. The first rotating joint 5 is driven by a first driving device 8-1 connected to the first structure 1 and the second structure 2. A first universal joint 14 is connected to the third structure 3. A direct acting joint 15 and a second universal joint 16 are connected. The second rotating joint 7 is driven by a second driving device 10-1 connected to the first structure 1 and the second universal joint 16. COPYRIGHT: (C)2005,JPO&NCIPI