| 摘要 |
PROBLEM TO BE SOLVED: To provide a shoulder joint mechanism capable of making movements closer to those of a person, and a robot with the same.SOLUTION: A first shoulder member 11 is connected rotatably to a robot body, and a second shoulder member 12 is connected swingably to the first shoulder member 11. Further, an upper arm member 3 connected rotatably to the second shoulder member 12 is held rotatably on an axis 32 of rotation extending in a direction crossing a longitudinal direction D1 of the upper arm member 3 so as to form what is called an offset joint. Thus, three actions which are a rotating action of the first shoulder member 11 on the robot body, a swing action of the second shoulder member 12 around the first shoulder member 11, and a rotating action by the offset joint of the upper arm member 3 for the second shoulder member 12 are combined to make movements closer to those of a person as compared with a configuration of two combined joint mechanisms capable of making a swing action and a rotating action. |
