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Two arm shoulder joint mechanism of two arm robot and two leg hip joint mechanism of two leg walking robot

A shoulder joint and hip joint technology is applied in the field of the double-arm shoulder joint mechanism of the double-arm robot and the double-leg hip joint mechanism of the biped walking robot, and can solve the problems of increasing the degree of freedom and the like

Inactive Publication Date: 2006-09-13
THE UNIV OF TOKYO
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  • Abstract
  • Description
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Problems solved by technology

However, increased degrees of freedom are undesirable relative to humanoid robots due to the requirement to reduce weight and size

Method used

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  • Two arm shoulder joint mechanism of two arm robot and two leg hip joint mechanism of two leg walking robot
  • Two arm shoulder joint mechanism of two arm robot and two leg hip joint mechanism of two leg walking robot
  • Two arm shoulder joint mechanism of two arm robot and two leg hip joint mechanism of two leg walking robot

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Embodiment Construction

[0027] figure 1 It is a schematic diagram showing an embodiment of a double ball joint used in a double-arm shoulder joint mechanism and a double-leg hip joint mechanism according to the present invention. exist figure 1 In the illustrated embodiment, a double ball joint 1 comprises: a first ball joint 3 consisting of motors A, B and C used as actuators and a link used to connect the respective axes of rotation of said motors 2; and a second ball joint 5 consisting of motors D, E, and F used as actuators and a link 4 used to connect the respective rotating shafts of said motors. Also, in the double ball joint 1, the rotation centers of the first ball joint 3 and the second ball joint 5 are connected to a point A. As shown in FIG. In the above institutions, also in the Figure 8 In the mechanism shown, a coordinate system XcYcZc is established for motor C, and a coordinate system XfYfZf is established for motor F, which coordinate systems can express arbitrary postures ind...

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Abstract

As a double-arm shoulder joint mechanism of a double-arm robot and a both-legs hip joint mechanism of a biped-walk robot, use is made of a double spherical joint having a construction such that joint rotation axes of 6 DOF are intersected at one point. As the double-arm shoulder joint mechanism of the double-arm robot, arms are connected respectively to a first spherical joint and a second spherical joint of the double spherical joint. As the both-legs hip joint mechanism of the biped-walk robot, legs are connected respectively to the first spherical joint and the second spherical joint of the double spherical joint.

Description

technical field [0001] The invention relates to a double-arm shoulder joint mechanism of a double-arm robot and a double-leg hip joint mechanism of a biped walking robot, and also relates to a shoulder joint mechanism and a hip joint mechanism of a humanoid robot using the above-mentioned mechanism. Background technique [0002] Usually, such as Figure 6 As shown, the dual-arm robot is used for industrial purposes, and is realized by two independent robots 52-1, 52-2 arranged on a base 51. The working space that the arms of robots 52-1, 52-2 can reach simultaneously is defined by Figure 7 The shaded portion shown indicates a view from above. The workspace in which the robots 52-1, 52-2 cooperate with each other is smaller than the respective arm lengths of the robots 52-1, 52-2. As a method of extending the working space, it is conceivable to provide an actuator for rotating the entire base 51 . However, this method increases degrees of freedom (hereinafter, sometimes a...

Claims

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Application Information

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IPC IPC(8): B25J17/00A63H11/00A63H11/18B25J5/00B25J17/02
CPCB25J17/0275Y10T74/20329B25J17/00
Inventor 中村仁彦岡田昌史篠原彻也
Owner THE UNIV OF TOKYO
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