| 摘要 |
The present invention relates to an inner cable installation structure for a robot and, more specifically, to an inner cable installation structure for a robot using the elasticity of a spring capable of converting an uncertain cable arrangement state to a certain arrangement state using a spring and the elasticity of the spring. In the inner cable installation structure for a robot using the elasticity of a spring according to the present invention, two links are coupled to perform relative motions and one or more cables are embedded therein. The cables are inserted in the coil-shaped spring. One end of the spring is fixed on a fixture formed on one link and the other end thereof is fixed on a fixture formed on the other link. The start and finish ends of the spring are twisted at a predetermined angle (Twist angle). When the two links perform the relative motions, the length of the spring is varied by changing the twist angle or the elasticity in the twisted shape. |
