METHOD FOR FORMING REDUNDANTLY-ACTUATED MECHANISM AND ACTUATOR FORCE DISTRIBUTION SYSTEM

摘要

A redundantly-actuated mechanism, according to the present invention, comprises: a support; a first link having one end connected to the support through a first pivot joint; a second link connected to the other end of the first link through a second pivot joint;at least one auxiliary link connected to the support and the second link; and a plurality of rotating actuators, wherein the auxiliary link includes a third link and a fourth link, one end of the third link is connected to the support through a third pivot joint and one end of the fourth link is connected to the second link through a fourth pivot joint, the other end of the third link and the other end of the fourth link are connected through a fifth pivot joint, and the rotating actuators are arranged at three or more pivot joints selected from among the first to fifth pivot joints such that the rotating actuators are configured to rotate one or more links among the first to fourth links.