| 摘要 |
PROBLEM TO BE SOLVED: To provide a link mechanism capable of reducing the plastic deformation of a spring. SOLUTION: Link members 11, 12 serving as a pair of links are connected to each other so as to be able to rotate about a rotation shaft 33 at one end side. Two torsion coil springs 14, 15 with the same shapes which provide the links with elasticity to correspond to a rotation spring are disposed in series via a movable spring receiver 16 in an aligned manner in a disposition direction between the link members 11, 12. Then, the link member 11 is connected via a drive shaft 17 to a motor 20 at the other end, and the link member 12 is connected via a rotation shaft 21 to a link member 22 connected to the driven portion of a robot arm at the other end. COPYRIGHT: (C)2011,JPO&INPIT
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