| 摘要 |
PURPOSE: An articulation apparatus for a robot is provided to reduce the accumulation of fatigue by extending the rotation range, increasing the rotational speed, and reducing torque changes in robot joints. CONSTITUTION: An articulation apparatus(1) for a robot comprises first and second frame units(10,20), an articulation unit(30), a slider unit(50), and first and second extensible drive units. The first and second frame units have first and second hinges(16,26), respectively. The articulation unit turnably connects the first and second frame units to each other. The slider unit is coupled to one of the first and second frame units through a third hinge to be slidable. One end of the first extensible drive unit is rotatably coupled to the first hinge, and the other end is rotatably coupled to the third hinge. One end of the second extensible drive unit is rotatably coupled to the second hinge, and the other end is rotatably coupled to the third hinge. The position of the slider is varied to minimize force applied to a support point of driving force for folding and unfolding the first and second frame units.
|
