Humanoid robot to implement a spherical hinge having a consolidated actuator

摘要

This invention, the globose joint which possesses the connected actuator (10, 100 and 200) hiyumanoidorobotsuto which is used regards the method of using (5) and the globose joint. This invention in production of hiyumanoidorobotsuto which most gets near to personification conversion especially is practical. Joint (10, 100 and 200), robot (5) two elements (101 and 103; 105 and 104; 101 and 102) you connect. The joint is moved three actuators (20, 35 and 36) by, the 1st actuator (35) and the 2nd actuator (36) only action together is connected parallel, the 3rd actuator (20), axis (13) operates in series with the 1st two actuators around. According to this invention, the 3rd actuator (20) as for axis, the motion angular range must be maximum in order to get near to personification conversion, it is the axis. Selective figure Figure 1