| 摘要 |
PROBLEM TO BE SOLVED: To provide a motion base which affects kinesthetic sense of a leg type moving robot in a wide movable scope. SOLUTION: This motion base is composed of a base, a table, and a plurality of arms connecting them. The arm is a serial arm having a two link configuration. A lower part link is connected with the base through an actuator having a predetermined rotary shaft at its lower end and a passive joint crossing the actuator orthogonally and having degree of freedom in rotation. An upper end of the lower part link is connected with an upper part link through the actuator, and an upper end of the upper part link is connected with the table through a passive joint having three degrees of freedom. COPYRIGHT: (C)2005,JPO&NCIPI
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