Title:
ROBOT FINGER STRUCTURE
Document Type and Number:
WIPO Patent Application WO/2011/126226
Kind Code:
A2
Abstract:
The present invention relates to a robot finger structure that enables an adaptive motion with varying movements of joints depending on the contact with an object. The robot finger structure comprises: a first joint (10); a second joint (20) connected to the first joint (10) by means of a pin axis (R); a third joint (30) connected to the second joint (20) by means of a pin axis (R) and connected to the first joint (10) by means of a driven link (40); and a joint drive unit (50) connected to the third joint (30) by means of a pin axis (R) and connected to the second joint (20) by means of an elastic link (55), wherein the joint drive unit (50) selectively rotates the third joint (30) or the elastic link (55) according to the size of load that is applied to the elastic link (55) such that the first joint (10) being connected to the second joint (20) by means of the driven link (40) may rotate with respect to each pin axis (R). In this manner, an adaptive motion where joints move differently depending on the contact with an object (i.e. the size of load), is realized.
Inventors:
KIM, Sung Tae (Yangji-Kunyoung Apt. 209-202, 720 Jeongbalsan-Dong, Ilsandong-g, Goyang-si Gyeonggi-do 410-314, 410-314, KR)
김성태 (경기도 고양시 일산동구 정발산동 720 양지건영 209-202, 410-314 Gyeonggi-do, 410-314, KR)
김성태 (경기도 고양시 일산동구 정발산동 720 양지건영 209-202, 410-314 Gyeonggi-do, 410-314, KR)
Application Number:
KR2011/001970
Publication Date:
October 13, 2011
Filing Date:
March 23, 2011
Export Citation:
Assignee:
ROBOMECH CO., LTD. (Bucheon Techno Park 201-505, 192 Yakdae-dong, Wonmi-g, Bucheon-si Gyeonggi-do 420-733, 420-733, KR)
주식회사 로보멕 (경기도 부천시 원미구 약대동 192 부천테크노파크 201동 505호, 420-733 Gyeonggi-do, 420-733, KR)
KIM, Sung Tae (Yangji-Kunyoung Apt. 209-202, 720 Jeongbalsan-Dong, Ilsandong-g, Goyang-si Gyeonggi-do 410-314, 410-314, KR)
주식회사 로보멕 (경기도 부천시 원미구 약대동 192 부천테크노파크 201동 505호, 420-733 Gyeonggi-do, 420-733, KR)
KIM, Sung Tae (Yangji-Kunyoung Apt. 209-202, 720 Jeongbalsan-Dong, Ilsandong-g, Goyang-si Gyeonggi-do 410-314, 410-314, KR)
International Classes:
B25J15/08; B25J17/00
Attorney, Agent or Firm:
LEE, Jae Hwa (4th Floor Duckchun B/D, 718-10Yoksam 1-dong, Kangnam-ku, Seoul 135-081, 135-081, KR)
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