| 摘要 |
The present invention mounts a joint ball, in which a manipulator such as arm is mounted, on a first fixed base to rotate at the center of the joint ball; forms a second fixed base separated from the first fixed base in a Y-axis direction; mounts a first rotation unit rotating around a Y-axis as a central axis line of a ball on the second fixed base; mounts a second rotation unit rotating around an X-axis on the first rotation unit; and mounts a load on the joint ball; combines one end of a link with a front end of a via. The present invention reduces operation costs and manufacturing costs of ball joint by applying two motors moving an arm along a three-dimensional trace and forms a humanoid robot by facilitating a small diameter trace and a large diameter trace performed by the human arm. |
