| 摘要 |
PURPOSE: A shoulder structure of a wearable robot is provided to assist work because a robot is slid or rotated back and forth according to motion of a pitch driving motor and a roll driving motor if a shoulder of users wearing a robot is moved. CONSTITUTION: A shoulder structure of a wearable robot comprises a sliding unit(100), a pitch driving motor(110), a link unit(200), a roll driving motor(210), and a rotary arm(220). A guide groove(101) is perforated in the center of the sliding unit. The pitch driving motor is connected to the sliding unit and moves back and forth. One side of the link unit is connected to the pitch driving motor and is inserted in the guide groove. The other side of the link unit is located in the outside of the sliding unit. The roll driving motor is connected to the end of the link unit locating in the outside of the sliding unit. The rotary arm is connected to the roll driving motor and is rotated. |
