Joint mechanism and robot having the joint mechanism

Details Joint mechanism and robot having the joint mechanism Joint mechanism and robot having the joint mechanism

1997-01-27

1998-06-16

Herrmann, Allan D.

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

74 96, 901 28, B25J 1700, F16H 2140

Patent

active

057654433

ABSTRACT:
A robot having a joint mechanism including a first arm member; a second arm member supported to the first arm member so as to be rotatable about a first axis; a swinging member supported to the second arm member so as to be rotatable about a second axis intersecting the first axis at a bending point, the swinging member having a first connecting portion at a position spaced from the second axis; a power transmitting member supported to the first arm member so as to be rotatable about a third axis orthogonally intersecting the first axis at the bending point, the power transmitting member having a second connecting portion at a position spaced from the third axis, the power transmitting member being connected at the second connecting portion to the first connecting portion of the swinging member so as to be rotatable about a fourth axis intersecting the second axis at the bending point and obliquely intersecting the third axis at the bending point; and a driving motor mounted on the first arm member, for rotationally driving the power transmitting member about the third axis.

REFERENCES:
patent: 2490624 (1949-12-01), Forwald
patent: 4723460 (1988-02-01), Rosheim
patent: 4805477 (1989-02-01), Akeel

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