ARTICULAR STRUCTURE FOR ROBOT AND ROBOT WITH INCORPORATED ARTICULAR STRUCTURE

摘要

An articular structure for a robot according includes: a first intermediate link (26a) supported on a first member (22) to be rotatable about a first axis; a first arm (25a) having one end connected to a second member (23) with a ball joint interposed therebetween and the other end connected to the first intermediate link (26a) with a ball joint interposed therebetween; a first actuator (28a) for rotating the first intermediate link (26a) about the first axis; a second intermediate link (26b) supported on the first member (22) to be rotatable about a second axis; a second arm (25b) having one end connected to the second member (23) with a ball joint interposed therebetween and the other end connected to the second intermediate link (26b) with a ball joint interposed therebetween; and a second actuator (28b) for rotating the second intermediate link (26b) about the second axis.

主权项

1. An articular structure for a robot, with a second member rotating relative to a first member about two axes perpendicular to each other, the articular structure comprising:
a first intermediate link supported on the first member to be rotatable about a first axis; a first arm having one end connected to the second member with a ball joint interposed therebetween and the other end connected to the first intermediate link with a ball joint interposed therebetween; a first actuator for rotating the first intermediate link about the first axis; a second intermediate link supported on the first member to be rotatable about a second axis; a second arm having one end connected to the second member with a ball joint interposed therebetween and the other end connected to the second intermediate link with a ball joint interposed therebetween; and a second actuator for rotating the second intermediate link about the second axis.