| 摘要 |
A modular articulated robot structure (<cross-reference target="DRAWINGS">FIG. 4 </cross-reference>) composed of a series of independent modules (10, 100, 300) releasably connected to each other to form various configurations. The modules (10, 100, 300) may be of the rotary (10), linear (100), or wheeled (300) type. The rotary modules (10) are generally formed of first and second substantially U-shaped structural members (12, 14) pivotally attached to one another by means of a pair of axles or pivot pins (26) adapted to support a workload exerted on the module (10). An actuator (48) is mounted internally of the module (10) for pivoting the second structural member (14) relative to the first structural member (12). The actuator (48) is connected to the second structural member (14) in such a way that it is not submitted to outside loads exerted on the module (10). Typically, the first and second structural members (12, 14) are provided with cooperating abutment surfaces (17, 19, 74, 76, 78, 80) for increasing the overall structural rigidity of the module (10) in certain positions thereof.
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