AGILE, DRIVEN JOINT WITH THREE DEGREES OF FREEDOM

摘要

The invention relates to a joint drive with a joint unit and a curved guide drive. The joint unit comprises a first and a second transmission wheel which are positioned opposite each other. The first and the second transmission wheel can be driven independently of each other by a corresponding first and second actuator, respectively. The joint unit further includes a third transmission wheel which is in contact with the first and the second transmission wheel in a force-fitting manner and which is mounted in a rotatable manner and in a pivotal manner in the rotational direction of the first and the second transmission wheel. The curved guide drive comprises a curved guide in which the joint unit is guided in a rotatable manner about a first axis.