Robot Articular Structure with Ball Joint Linkage

The patent segments the articular structure into multiple independent single-degree-of-freedom joints, each controlled by a small linear actuator. Instead of using one large multi-DOF rotary servomotor, the system divides the movement into separate rotational components around different axes, with each component driven by its own small linear actuator. This segmentation allows the use of smaller actuators while achieving the same overall degrees of freedom.

The patent introduces intermediate links as mediators between the linear actuators and the final rotating member. These intermediate links convert the linear motion of small actuators into rotational motion, enabling the system to achieve multiple degrees of freedom without requiring large rotary servomotors. The intermediate links act as mechanical transformers that amplify the effect of small linear movements into useful rotational movements.

The patent segments the actuation system into multiple independent linear actuators positioned externally, rather than nesting rotary servomotors within each other. Each linear actuator is mounted separately on the articular structure, and their combined action through intermediate links achieves the desired degrees of freedom. This external segmentation eliminates the complex nested configuration of rotary shafts.

The patent substitutes the complex mechanical nesting of rotary servomotors with a system of linear actuators and intermediate links. Instead of using rotary motors that require nested hollow shafts to achieve orthogonal rotations, the system uses linear actuators that move along straight lines, with their motion converted to rotation through mechanical linkages. This substitution simplifies the overall mechanical structure.