CONNECTION MECHANISM WITH THREE ROTATIONAL DEGREES OF FREEDOM, ROBOT, ROBOT ARM, AND ROBOT HAND

WIPO Patent Application WO/2018/074101

A1

The purpose of the present invention is to enable a connection mechanism with three rotational degrees of freedom, which is required for a robot capable of performing human-like movements, to be constructed by using a simple structure without restrictions being imposed on movements within a movable range. The connection mechanism is provided with: a joint part 18 for rotatably connecting a second member 5 to a first member 6 with three rotational degrees of freedom, including rotation about a torsion axis 56; three actuators 19, 20, 21 each having a variable-length link 19L, 20L, 21L, the length of which can be changed, and a drive source 19M, 20M, 21M for generating a force for changing the length of the variable-length link 19L, 20L, 21L; and three first member-side link attachment parts J10, J8, J9 and three second member-side link attachment parts J5, J6, J7 disposed on the first member 6 and on the second member 5, respectively, such that a variable-length link 19L, 20L, 21L twisted with respect to the torsion axis 56 is present in each state within a movable range of the joint part 18.

KAWAGUCHI NOBORU (JP)
YAMAUCHI HIDETAKA (JP)
HATTORI TOMOYA (JP)
HIROSE KOJI (JP)

PCT/JP2017/032667

April 26, 2018

September 11, 2017

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MITSUBISHI ELECTRIC CORP (JP)

B25J17/00; B25J5/00; F16H21/46

WO2005025814A1	2005-03-24
WO2007077698A1	2007-07-12

JPH0811081A	1996-01-16
JP2000334687A	2000-12-05
JP2003170381A	2003-06-17
JPH11156778A	1999-06-15
JP2001347482A	2001-12-18
CN105415394A	2016-03-23

MURAKAMI, Kanako et al. (JP)

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