Short-slung strong joint module for robot hand, has axle arranged electromotor, and eccentric cam gear box provided with Oldham-coupling and worm gears, where joint module is movable along rotational axis

摘要

The module has an axle arranged in an electromotor (1). An eccentric cam gear box (2) is provided with an Oldham-coupling (3) and worm gears (4), where the joint module is movable along a rotational axis, and is provided with two inner casing halves and a split shell housing and arranged between an inner shell and shell casing cable chambers. An inner housing (5) is attached with two side flanges, which connect the joint module such that four-bar chains are connected together. Tactile pressure sensors are attached to the joint module.