Title:
ROBOT JOINT APPARATUS UTILIZING WIRES AND MODULAR ROBOT JOINT SYSTEM UTILIZING WIRES
Document Type and Number:
WIPO Patent Application WO/2016/117874
Kind Code:
A1
Abstract:
The present invention relates to a robot joint apparatus utilizing wires and a modular robot joint system utilizing wires. The robot joint apparatus according to the present invention comprises: a main frame; a joint module rotatably disposed on the main frame to move a joint; first and second wires each having one end connected to the joint module; a first wire driving module connected to the other end of the first wire to pull on same so that the joint module rotates clockwise; and a second wire driving module connected to the other end of the second wire to pull on same so that the joint module rotates counterclockwise, wherein the first and second wire driving modules pull on the first and second wires, respectively, to control the rigidity of the joint movements of the joint module by means of the tension created by the first and second wires, and corresponding to the first and second wire driving modules driving in the opposite directions, the joint module moves a joint in the clockwise or counterclockwise direction due to the pulling power of any one from among the first wire and second wire. Accordingly, a movement in the joint can be generated by structuring a joint by means of a combination of tensions of two strands of wire, comprising the first wire and second wire forming a pair, and the tension applied to the joint module allows the structural joint rigidity to be controlled.
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Inventors:
JEONG HYUN-HWAN (KR)
CHEONG JOO-NO (KR)
CHEONG JOO-NO (KR)
Application Number:
PCT/KR2016/000336
Publication Date:
July 28, 2016
Filing Date:
January 13, 2016
Export Citation:
Assignee:
UNIV KOREA RES & BUS FOUND (KR)
International Classes:
B25J17/00; B25J9/10
Foreign References:
| KR101482746B1 | 2015-01-14 | |||
| US20080177283A1 | 2008-07-24 | |||
| KR100612031B1 | 2006-08-11 | |||
| KR101038473B1 | 2011-06-01 | |||
| KR20110092890A | 2011-08-18 |
Attorney, Agent or Firm:
NAMCHON INTERNATIONAL PATENT AND LAW FIRM (KR)
특허법인 남촌 (KR)
특허법인 남촌 (KR)
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