Title:
ROTARY CONNECTING MECHANISM, ROBOT, ROBOT ARM, AND ROBOT HAND
Document Type and Number:
WIPO Patent Application WO/2019/208652
Kind Code:
A1
Abstract:
It is difficult to control the lengths of three links in a rotary connecting mechanism having three rotational degrees of freedom.
This rotary connecting mechanism is provided with: a joint portion 18 rotatably joining a second member 5C to a first member 6C with three rotational degrees of freedom; a first link 19LC and a third link 20LC which each have a length that can be changed, have five rotational degree of freedom, have one end attached rotatably to the second member 5C with at least two rotational degrees of freedom, and have another end attached rotatably to the first member 6C with at least two rotational degrees of freedom; a second link 21LC which has a length that can be changed, has five rotational degree of freedom, has one end attached rotatably to the first link 19LC with at least two rotational degrees of freedom, and has another end attached rotatably to the first member 6C with at least two rotational degrees of freedom; and motors 19M, 21M and 20M which respectively generate forces to change the lengths of the three links.
Inventors:
KAWAGUCHI NOBORU (JP)
HATTORI TOMOYA (JP)
HARUNA MASAKI (JP)
HIROSE KOJI (JP)
UEDA KEN (JP)
KIMURA SHINGO (JP)
HATTORI TOMOYA (JP)
HARUNA MASAKI (JP)
HIROSE KOJI (JP)
UEDA KEN (JP)
KIMURA SHINGO (JP)
Application Number:
PCT/JP2019/017482
Publication Date:
October 31, 2019
Filing Date:
April 24, 2019
Export Citation:
Assignee:
MITSUBISHI ELECTRIC CORP (JP)
International Classes:
B25J17/00; B25J5/00; B25J15/08
Domestic Patent References:
| WO2011118646A1 | 2011-09-29 | |||
| WO2012039479A1 | 2012-03-29 |
Foreign References:
| JP2007516854A | 2007-06-28 | |||
| JPH04501682A | 1992-03-26 | |||
| JP2018509961A | 2018-04-12 | |||
| JP2013111670A | 2013-06-10 | |||
| JP2004202676A | 2004-07-22 | |||
| JP2003165084A | 2003-06-10 |
Attorney, Agent or Firm:
MURAKAMI, Kanako et al. (JP)
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