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Three-rotation-freedom-degree connection mechanism, robot, robot arm and robot hand
Three-rotation-freedom-degree connection mechanism, robot, robot arm and robot hand
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机译：三自由度连接机构，机器人，机器人手臂和机器人手
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摘要
A three-dimensional degree of freedom rotating linkage mechanism required for a robot capable of human-like motion has a simple structure and there is no restriction on movement within a movable range. The rotary three-degree-of-freedom connection mechanism includes a hinge (18) rotatably connecting a second part (5) to a first part (6) having three rotational degrees of freedom including rotation about a torsion axis (56), three actuators (19, 20, 21) ), each having variable length length variable links (19L, 20L, 21L) and drive sources (19M, 20M, 21M for generating a force to change the lengths of the variable length links (19L, 20L, 21L) and three first link side links). Fixing units (J10, J8, J9) provided in the first part (6) and the second-limb-side connection fixing units (J5, J6, J7) provided on the second part (5) such that the variable length links (19L, 20L, 21L) having a twisted relationship with the torsion axis (56) in each state within the range of motion of the link (18).
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