| 摘要 |
The joint and the system for driving thereof include an articulated quadrilateral formed by two groups (C, D) of pairs of tie-rods, with the tie-rods of each group hinge joined so as to define a first corner of the quadrilateral at the connection axis of two segments (A, B) of an arm, and a second corner (21) opposite to the first corner. The remainder of the tie-rods ends of each group are hinge joined to corresponding ends of the tie-rods of the other group, so that the hinge points common to the two groups form the other two opposite corners (22, 23) of the quadrilateral. Two cylinders (1, 2) are respectively hinged to the segments (A, B) and act on the two corners (22, 23) formed by the hinge points common to the tie-rods of the first group and the tie-rods of the second group, while a third cylinder (5) is hinged to the connection axis (20) of the two segments and acts on the opposite corner (21) of the quadrilateral, i.e. on the hinge point common to the tie-rods of the second group. |
