| 摘要 |
PROBLEM TO BE SOLVED: To provide a driving mechanism optionally configuring a rigidity corresponding to the purpose of usage and the condition of usage, and a flexible joint mechanism using the driving mechanism. SOLUTION: A load displacement characteristic generating section 1013 formed by binding a plurality of elastic bodies connects between two servomotors fixed on a driving base body and pulleys fixed on an arm, so as to configure a balancing mechanism. The plurality of the elastic bodies are, for example, rubber materials, and have different lengths so as to have different points, i.e., ignition points, to start elongation when pulled by the servomotors. When the two servomotors are driven in the opposite directions to each other, the pulleys rotate, allowing the joint to rotate. When the two servomotors are driven in the same directions, the pulleys, i.e., the joint does not rotate, instead, the load displacement characteristic generating section extends or contracts, so as to vary the rotational rigidity of the pulleys, i.e., the joint. The presence of the plurality of the elastic bodies enables the load displacement characteristic to be a polygonal curve. COPYRIGHT: (C)2011,JPO&INPIT
|
