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 (JP)
NAGATA MASAKI (JP)
NAGATA MASAKI (JP)
Application Number:
PCT/JP2011/053913
Publication Date:
September 01, 2011
Filing Date:
February 23, 2011
Export Citation:
Assignee:
UNIV KAGOSHIMA (JP)
YU YONG (JP)
NAGATA MASAKI (JP)
YU YONG (JP)
NAGATA MASAKI (JP)
International Classes:
B25J17/00; B25J17/02; F16H21/46
Foreign References:
| JP2006226458A | 2006-08-31 | |||
| JPH08132382A | 1996-05-28 | |||
| JPS6279988A | 1987-04-13 | |||
| JP2009274200A | 2009-11-26 | |||
| JP2008232197A | 2008-10-02 |
Attorney, Agent or Firm:
KOKUBUN, Takayoshi (JP)
Takayoshi Kokubu (JP)
Takayoshi Kokubu (JP)
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Claims: