| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a serial robot of which the distal joint is operated with a smaller stroke to allow the use of a smaller actuator and exterior design. <P>SOLUTION: The serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and the distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal joint and/or the distal joint by the first actuator and/or the second actuator. A robotic hand having the robot is disclosed, and a robotic system having a torso, arm, and the hand is also disclosed. <P>COPYRIGHT: (C)2013,JPO&INPIT |
