Offset rotary joint unit equipped with rotation correction...

Details Offset rotary joint unit equipped with rotation correction... Offset rotary joint unit equipped with rotation correction...

2005-12-20

2005-12-20

Joyce, William C. (Department: 3682)

Machine element or mechanism

Control lever and linkage systems

Multiple controlling elements for single controlled element

C074S490020, C074S490030, C901S028000

Reexamination Certificate

active

06976401

ABSTRACT:
An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit4is composed of a first arm1, a rotation correction arm2rotationally driven around the axial line of the first arm, and a second arm3rotationally driven around an axial line obliquely intersecting with the rotation correction arm. A rotation correction joint mechanism5linking the first arm1and the rotation correction arm2and an offset rotary joint mechanism6linking the rotation correction arm2and the second arm3are driven by a single motor12, and the rotation correction joint mechanism5rotates synchronously and in the reverse direction, following the rotation of the offset rotary joint mechanism6, thereby allowing the second arm3to execute a bending motion in a two-dimensional plane with respect to the first arm1only by virtue of rotary mechanisms.

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Sungmoo Ryew, et al., IEEE Transactions on Robotics and Automation, vol. 17, No. 3, Jun. 2001, pp. 290-300.

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