Title:
ACTIVE ROTATION ARTICULATION WITH THREE DEGREES OF FREEDOM
Document Type and Number:
WIPO Patent Application WO/2011/105400
Kind Code:
A1
Abstract:
An active rotation articulation with three degrees of freedom is provided with a rotating body (20) whereto a first link (10a) is connected; rotating actuators (100x, 100y, 100z) for the X-axis, the Y-axis, and the Z-axis, said rotating actuators (100x, 100y, 100z) being disposed in such a way that output shafts (101x, 101y, 101z) are directed toward the center of the rotating body (20) and intersect one another at right angles, resulting in the rotating body (20) being made to rotate; and movable bodies (110x, 110y, 110z) which support the output shafts (101x, 101y, 101z) of the rotating actuators (100x, 100y, 100z) at positions where the output shafts (101x, 101y, 101z) are connected to the rotating body (20), and each of which allows the rotating body (20) to rotate about the other two unrelevant axes. The first link (10a) is connected to the rotating body (20) at a position approximately equidistant from the output shafts (101x, 101y, 101z). Therefore, it is possible to miniaturize and lighten the active rotation articulation with three degrees of freedom and to dispose the rotating actuators in a well-balanced way, thereby improving the dynamic properties between a pair of links.
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Inventors:
YU, Yong (21-24 Korimoto 1-chome, Kagoshima-sh, Kagoshima 80, 〒8908580, JP)
余 永 (〒80 鹿児島県鹿児島市郡元一丁目２１番２４号 国立大学法人 鹿児島大学内 Kagoshima, 〒8908580, JP)
余 永 (〒80 鹿児島県鹿児島市郡元一丁目２１番２４号 国立大学法人 鹿児島大学内 Kagoshima, 〒8908580, JP)
Application Number:
JP2011/053913
Publication Date:
September 01, 2011
Filing Date:
February 23, 2011
Export Citation:
Assignee:
KAGOSHIMA UNIVERSITY (21-24, Korimoto 1-chome Kagoshima-sh, Kagoshima 80, 〒8908580, JP)
国立大学法人 鹿児島大学 (〒80 鹿児島県鹿児島市郡元一丁目２１番２４号 Kagoshima, 〒8908580, JP)
YU, Yong (21-24 Korimoto 1-chome, Kagoshima-sh, Kagoshima 80, 〒8908580, JP)
国立大学法人 鹿児島大学 (〒80 鹿児島県鹿児島市郡元一丁目２１番２４号 Kagoshima, 〒8908580, JP)
YU, Yong (21-24 Korimoto 1-chome, Kagoshima-sh, Kagoshima 80, 〒8908580, JP)
International Classes:
B25J17/00; B25J17/02; F16H21/46
Attorney, Agent or Firm:
KOKUBUN, Takayoshi (5th Floor, NBF Ikebukuro City Building 17-8, Higashi-Ikebukuro 1-chome, Toshima-k, Tokyo 13, 〒1700013, JP)
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Claims: