To equalize the number of joint driving devices to the number of the joints, resolve the change in a path length of a linear member for transmitting a driving force at each of joint parts, easily exchange the linear member for transmitting the driving force in a short period of time, and improve convenience.
The joint driving device includes a driven member which drives a subsequent link member with respect to a predetermined link member by receiving the driving force from the linear member for driving the joint part disposed on the joint shaft rotatably connecting the predetermined link member and the subsequent link member, and a path length compensation unit which is disposed on the joint shaft, transmits the driving force from the linear member for driving the other joint part disposed corresponding to a predetermined link member to the linear member for driving the other joint part disposed corresponding to the subsequent link member, and absorbs the change in the path length of the linear member for driving the other joint part.
| WO/2013/043320 | MULTISTABLE SHAPE-SHIFTING SURFACES |
| JP5488610 | robot |
Mamoru Shimizu
Makoto Kawai