发明名称 JOINT SYSTEM
摘要 PROBLEM TO BE SOLVED: To provide a joint system which uses a fluid pressure artificial muscle, and which can be incorporated in a robot. SOLUTION: A joint mechanism 10 includes a first link 12 and a second link 14. The first link and the second link are arranged so that a convex face 28 of a second joint part of the second link directly contacts a concave face 20 of a first joint part of the first link. Two mounting angles 30 fixed to the link for mounting two pneumatic actuator 42A, 42B to competitively pull the first link and the second link in their outside across a joint formed by the first joint part and the second joint part. The pneumatic actuators 42A, 42B are filled with predetermined-pressure gas to control an angle (a joint angle) formed in the same plane by the axial center of the first link and the axial center of the second link and its joint rigidity. Because viscoelastic body or the like which hardly identifies dynamic property is not laid between the first joint part and the second joint part, the joint angle and the rigidity are adjusted in a joint-angle reproductive manner only by the pressure control of the pneumatic actuators. Thus, the joint system is easily incorporated in a robot. COPYRIGHT: (C)2008,JPO&INPIT
申请公布号 JP2008121783(A) 申请公布日期 2008.05.29
申请号 JP20060306236 申请日期 2006.11.13
申请人 JAPAN SCIENCE & TECHNOLOGY AGENCY 发明人 HOSODA KO
分类号 F16H21/10;B25J17/00;F16H21/44 主分类号 F16H21/10
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