| 摘要 |
PROBLEM TO BE SOLVED: To obtain a joint which makes compatible high-torque drive and high-speed drive while alleviating a load of a drive source. SOLUTION: A nonparallelogram link is constituted by connecting a drive-side crank 1 and an operation-side crank 2 by a rod 3, and when one crank is in the vicinity of a dead point, an angle formed of the other crank and the rod 3 is set to be in the vicinity of 90°, thus making a transfer function of a force nonlinear. By this, a joint 4 can be driven at high torque in an attitude that the joint is applied with a low load, and at high speed in an attitude applied with a high load. COPYRIGHT: (C)2009,JPO&INPIT |
