| 摘要 |
A lockable elastic joint for anthropomorphous robot with a wrist and a handling organ, having a first part that is fastenable to the wrist of the robot and a second part that is fastenable to the handling organ of the robot. A first coupling is provided between the parts that is suitable to maintain the same parts at a pre-set distance and on planes parallel to each other and a second coupling is provided between the parts to allow in an elastic way or, as an alternative, to prevent mutual movements of the parts along two directions parallel to the planes of the two parts and perpendicular to each other and around an axis perpendicular to the aforesaid planes. Locking elastic joints may be provided that are suitable to lock the two parts to each other in any position, where one part is decentralized from the other.
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