| 摘要 |
PROBLEM TO BE SOLVED: To provide a linkage capable of setting the rigidity of an elastic element of a joint mechanism in an appropriate range in order to prevent the joint mechanism from being damaged because of collision of a movable part with an external object.SOLUTION: A linkage 1 is constituted so that the rigidity k_i of an elastic element 5 of each joint mechanism Ji can be changed in the range higher than first rigidity k1_i and lower than second rigidity k2_i. The first rigidity k1_i is set so that joint maximum elastic energy becomes higher than joint minimum inertial collision kinetic energy. The second rigidity k2_i is set so that a third time becomes longer than a fourth time. |
