| 摘要 |
PURPOSE: A two degree-of-freedom driving apparatus for upper arms of a robot is provided to omit rotational angle correction for the second drive shaft by making the second drive motor rotate along with the first drive shaft. CONSTITUTION: A two degree-of-freedom driving apparatus for upper arms of a robot comprises a mounting plate(100), first and second drive motors(200,600), and first to third drive shafts(300,400,500). The first drive motor is fixed to the mounting plate and rotated forward and reversely. The first drive shaft moves upper arms back and forth with respect to a robot body with the power provided by the first drive motor. The second drive shaft is supported to rotate by a bearing through the first drive shaft. A driven bevel gear(550) meshed with a drive bevel gear(450) of the second drive shaft is coupled with the third drive shaft. The third drive shaft moves the upper arms from side to side with respect to the robot body according to the rotation of the driven bevel gear. The second drive motor is rotated with the first drive shaft to rotate the second driver shaft forward and reversely.
|
