| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot apparatus and a limb driving mechanism for the robot manufacturable at low cost, raising upper limbs upward, and keeping that state for a long time. <P>SOLUTION: The limb driving mechanism for the robot includes a body 11, a limb supporting member 21 movably set in relation to the body 11, a movable limb 22 set in relation to the limb supporting member 21, an actuator 24 fixedly set to the body 11 and applying a driving force, and a link member 23 composed of a plurality of links 23a, 23c and a joint 23b movably connecting the plurality of links 23a, 23c with one end link 23a connected to the actuator 24 and the other end link 23c connected to the limb supporting member 21 to thereby link-connect the actuator 24 with the limb supporting member 21. The driving force applied from the actuator 24 is transmitted to the limb supporting member 21 via the link member 23. <P>COPYRIGHT: (C)2012,JPO&INPIT |
