VARIABLE RIGIDITY ROBOT JOINT SYSTEM

摘要

The present invention relates to a variable rigidity robot joint system comprising: a first driving module and a second driving module for respectively generating rotational force around an axis along a first direction; a first rotating module for rotating a joint by changing the rotation of the first driving module and the second driving module into rotation along a second direction intersecting the first direction, when the first driving module and the second driving module rotate along a direction in which the joints rotate along the same direction; a rigidity-providing member elastically supporting rotational movement of the first rotating module in the second direction so as to provide rigidity; and a second rotating module for regulating the elastic force of the rigidity-providing member by converting the rotation of the first driving module and the second driving module into linear motion along the first direction, when the first driving module and the second driving module rotate along a direction in which the joints rotate along directions different from each other. Therefore, two driving motors are involved in simultaneously controlling the motion and the rigidity of the joints so as to increase the efficiency of utilization of the driving motors while providing a flexible joint structure.