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

摘要

PROBLEM TO BE SOLVED: To provide an articular structure for a robot whereby a joint having a degree of freedom of 2 or higher can be achieved and which enables a reduction in the size of the joint.;SOLUTION: This articular structure for a robot is provided with: a first intermediate link 26a rotatably supported about a first axis on a first member 22; a first arm 25a having one end coupled to a second member 23 via a ball joint and the other end coupled to the first intermediate link 26a via a ball joint; a first actuator 28a for rotating the first intermediate link 26a about the first axis; a second intermediate link 26b rotatably supported about a second axis on the first member 22; a second arm 25b having one end coupled to the second member 23 via a ball joint and the other end coupled to the second intermediate link 26b via a ball joint; and a second actuator 28b for rotating the second intermediate link 26b about the second axis.;COPYRIGHT: (C)2013,JPO&INPIT