| 摘要 |
PROBLEM TO BE SOLVED: To provide a three-degree-of-freedom active rotation joint which makes uniform rotating motion in an optional direction made of each of freedom directions and having a simple structure similar to a ball joint. SOLUTION: The three-degree-of-freedom active rotation joint is furnished with: a rotating ball 10 connected to output shafts 21x, 21y, 21z inserted into hollow shafts of hollow shaft rotating type motors 20x, 20y, 20z for an X axis, a Y axis, movable supporting bodies 30x, 30y, 30z to regulate rotation of the hollow shaft rotating type motors 20x, 20y, 20z around their own respective axes and to support them to allow revolution around one of other orthogonal two axes and a supporting body 50 to support the movable supporting bodies 30x, 30y, 30z so as to allow revolution around the other of the other orthogonal two axes respectively, one link 60a is coaxially fixed on an output shaft 21z projected from a rear end of the hollow shaft rotating type motor 20z for the Z axis, and the other link 60b is fixed on the outer surface side of a supporting end part 50z of the supporting body 50. COPYRIGHT: (C)2008,JPO&INPIT
|
