Title:
関節機構、これを用いた多関節マニピュレータ及びこれらの製造方法
Document Type and Number:
Japanese Patent JP6904558
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a joint mechanism decreased in weight, an articulated manipulator using the same, and a method of manufacturing them.SOLUTION: A joint mechanism has a base 1; a joint (shaft) 2; and links 3-1 and 3-2 which are coupled to a serial by the joint 2, and are united with the base 1. A pulley 4 having a groove is slidably journaled to the joint 2. The link 3-2 is driven by the driving of an actuator 6 provided with a high intensity chemical fiber wire 5 wound around the pulley 4 having the groove on the base 1. A fixed end portion 5a of the high intensity chemical fiber wire 5 is fixed to the link 3-2 on the outermost side.SELECTED DRAWING: Figure 1
Inventors:
Gen Endo
Horifume Atsushi
Horifume Atsushi
Application Number:
JP2017093787A
Publication Date:
July 21, 2021
Filing Date:
May 10, 2017
Export Citation:
Assignee:
National University Corporation Tokyo Institute of Technology
International Classes:
B25J17/00; D07B1/02; F16H37/12; F16H55/36
Domestic Patent References:
| JP4082688A | ||||
| JP2000506980A | ||||
| JP2014057626A | ||||
| JP11028689A | ||||
| JP2001248712A | ||||
| JP2003074650A | ||||
| JP2004169724A |
Attorney, Agent or Firm:
Shozo Igarashi