Title:
MULTI-DEGREE-OF-FREEDOM MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2011/155071
Kind Code:
A1
Abstract:
Disclosed is a multi-degree-of-freedom manipulator such that it is possible to make high accuracy movements wherein almost no backlash occurs, and that moreover, further miniaturization and weight reduction can be achieved. The multi-degree-of-freedom manipulator is provided with a plurality of links (21), articulation sections (20) wherein the links (21) are mutually connected together in such a way as to be rotatable, and actuators (22) which drive the links (21) into mutually relative rotation in the articulation sections (20). In the articulation sections (20), solid cam mechanisms (200) are disposed which cause the links (21) to make mutually relative bending movements. The solid cam mechanisms (200) each comprise a solid cam (31) which has a three-dimensional cam guide surface (33), and a follower (32) which comes into sliding contact with the cam guide surface (33).
Inventors:
TAKAHASHI, Takayuki (())
高橋 隆行 (())
高橋 隆行 (())
Application Number:
JP2010/059978
Publication Date:
December 15, 2011
Filing Date:
June 11, 2010
Export Citation:
Assignee:
NATIONAL UNIVERSITY CORPORATION FUKUSHIMA UNIVERSITY (1 Kanayagawa, Fukushima-shi Fukushima, 96, 〒9601296, JP)
国立大学法人福島大学 (〒96 福島県福島市金谷川１番地 Fukushima, 〒9601296, JP)
TAKAHASHI, Takayuki (())
国立大学法人福島大学 (〒96 福島県福島市金谷川１番地 Fukushima, 〒9601296, JP)
TAKAHASHI, Takayuki (())
International Classes:
B25J9/06; B25J17/00; F16H1/32; F16H25/18; F16H37/12
Attorney, Agent or Firm:
NISHIKAWA, Yoshikiyo et al. (Hokuto Patent Attorneys Office, Umeda Square Bldg. 9F 12-17, Umeda 1-chome, Kita-ku, Osaka-sh, Osaka 01, 〒5300001, JP)
Claims:
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