| 摘要 |
PURPOSE: A two degree-of-freedom robot manipulator using a single servo motor is provided to directly connect a worm gear and a link through shaft and transmit the driving force of the worm gear to the link originally, thereby secure enough torque. CONSTITUTION: A two degree-of-freedom robot manipulator(300) comprises one servo motor(310), the first shaft, a worm gear(330), the second shaft, a rack gear(345), and a fixed rack(355). The first shaft transmits the driving force of the servo motor. The worm gear is combined with the first shaft. The second shaft is combined with the worm gear and rotates link according to the rotation. The rack gear is fixed with the worm gear and varies the fixed angle of a controlled object member combined to the link through the cylinder movement. The fixed rack faces to the rack gear around the worm gear. The gear determines the disposition of the rack gear by the angle of the spiral wire. The worm gear is separated in a constant distance with the worm gear.
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