| 摘要 |
PURPOSE: A joint actuating device is provided to obtain the motion trajectory similar to the human motion as an arm is rotated in different radiuses in a state where the arm is vertically, horizontally, or longitudinally positioned. CONSTITUTION: A joint actuating device(100) comprises first and second fixed bases(10,30), a joint ball(20), first and second rotary units(40,60), first and second translation units(50,70). The joint ball is rotated around the center at the first fixed base. The second fixed base is separated from the first fixed base at a constant interval in a direction of a Y center axial line(Y). The first rotary unit is mounted on the second fixed base, and rotated around the center of the Y center axial line. The first translation unit concentrically revolves with the revolution center of the first rotary unit, and moves across the Y center axial line from a vertical direction to the Y center axial line. The second rotary unit revolves by the first rotary unit according to the position of the first translation unit. The center of the second rotary unit is eccentrically mounted on the second rotary unit. The second translation unit vertically moves to the Y center axial line.
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