Humanoid robot joint structure and the joint structure of the robot has been incorporated

摘要

PROBLEM TO BE SOLVED: To provide an articular structure of a robot which allows construction of the articular structure for relatively rotating a second member with respect to a first member around two orthogonal axes, and allows reduction in weight and size of the articular structure.;SOLUTION: The articular structure of the robot includes: a first member 31; a support part 34 supported rotatably around a first axis 52 by the first member 31; a second member 32 supported rotatably around a second axis 54 orthogonal to the first axis 52 by the support part 34; and first and second linearly moving actuators 41a, 41b which run between the first member 31 and the second member 32, and have bodies 42a, 42b and axial parts 43a, 43b linearly moving relative in an axial direction with respect to the body parts 42a, 42b. By extending/retracting the first and second linearly moving actuators 41a, 41b, the second member 32 rotates relatively around two orthogonal axes 52, 54 with respect to the first member 31.;COPYRIGHT: (C)2013,JPO&INPIT