JOINT STRUCTURE OF ROBOT - HONDA MOTOR CO LTD

Title:

JOINT STRUCTURE OF ROBOT

Document Type and Number:

WIPO Patent Application WO/2007/088743

Kind Code:

A1

Abstract:

A joint structure of a robot for performing vertical and lateral swing motions of a hand (8) joined to an arm link (2). The joint structure has a base link (21) as the base body of the arm link (2) on which opposed parts (21a) are formed; a gimbal link (4) having a vertical axis (4a), disposed between the opposed parts (21a), and a lateral axis (4b) that are not in parallel with each other and perform the vertical and lateral swing motions of the hand (8); a main link (5) having one end connected to the lateral axis (4b) of the gimbal link (4) and the other end connected to the hand (8); and a sub-link (6) crossing the main link (5) and having one end connected to the gimbal link (4) and the other end connected to the hand (8) in order to form a four-joint link mechanism (1). Consequently, the joint of the robot can have a wide movable angle.

Inventors:

TAKEMURA YOSHINARI (JP)

Application Number:

PCT/JP2007/050893

Publication Date:

August 09, 2007

Filing Date:

January 22, 2007

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKEMURA YOSHINARI (JP)

International Classes:

B25J17/00

Foreign References:

JPH1086090A	1998-04-07
JPS60255377A	1985-12-17
JP2003069333A	2003-03-07
JPH10133733A	1998-05-22

Other References: