Robotic mechanism with two degrees of freedom

摘要

A robotic link mechanism comprising a pair of base elements connected by a passive flexible joint, such that flexure of the joint changes the mutual orientation of the base elements. A pair of obliquely truncated cylinders are confined between the base elements such that the obliquely formed end surfaces of the cylinders can rotate in sliding contact with each other, and the other end of each cylinder can rotate in sliding contact with its associated base element. Driving motors are attached to the base elements, each one controlled to rotate the cylinder associated with that base element, such that rotation of at least one of the cylinders causes the base elements to undergo change in their mutual orientation. The mechanism thus has a backbone composed of the passive flexible joint, which is supported and actuated by the oblique truncated cylindrical structure that serves as an active exoskeleton.

主权项

1. A robotic mechanism comprising:
a first and a second base element; first and second cylinders, each having an oblique truncated form, said cylinders being confined between said base elements such that an obliquely formed end surface of said first cylinder and an obliquely formed end surface of said second cylinder can mutually rotate in sliding association with each other; first and second driving motors attached to said first and second base elements, each driving motor being coupled to enable rotation relative to its base element of the cylinder adjacent to that base element, such that rotation of at least one of said cylinders causes said base elements to undergo change in their mutual orientation; and a passive inverted universal joint connecting said first and second base element such that said base elements are prevented from separating, and connected external to the axes of said cylinders, such that said axes can be free of impediments.