Hinge for robot i.e. service robot, has hinge mechanisms kinematically connecting base and end flange such that pivot points at end flange are movable only on circular path around pivot points at base

摘要

The hinge has a hinge mechanism comprising two pivot points (11, 12) at a base (10) and third and fourth pivot points (23, 24) at an end flange (20). Another hinge mechanism comprises fifth and sixth pivot points (15, 16) at the base and seventh and eight pivot points (27, 28) at the end flange. The mechanisms kinematically connects the base and the end flange such that pivot points (23, 24, 27, 28) at the end flange are movable only on a circular path around pivot points (11, 12, 15, 16) at the base in two planes. The two hinge mechanisms are adjusted to a movement of a third hinge mechanism.