| 摘要 |
PROBLEM TO BE SOLVED: To improve the dynamic characteristics between a pair of links by reducing the size and weight of a three-degree-of-freedom active rotation joint and disposing rotary actuators with satisfactory balance. SOLUTION: The three-degree-of-freedom active rotation joint includes: a rotor 20 to which one link 10a is connected; rotary actuators 100x, 100y, 100z for an X axis, a Y axis, and a Z axis rotating the rotor 20, in which respective output shafts 101x, 101y, 101z are disposed so as to be directed to the center of the rotor 20 and orthogonal with each other; and movable bodies 110x, 110y, 110z supporting the output shafts 101x, 101y, 101z of the respective rotary actuators 100x, 100y, 100z in a position to connect them to the rotor 20, and allowing them to rotate around the other two shafts of the rotor 20. One link 10a is connected to the rotor 20 in a position having substantially the same distance from the respective output shafts 101x, 101y, 101z. COPYRIGHT: (C)2011,JPO&INPIT |
