ACTIVE UNIVERSAL JOINT DEVICE WITH A SYSTEM WITH MULTIPLE DEGREES OF FREEDOM, CAPABLE OF OBTAINING A HIGH DEGREE OF FREEDOM BY INDEPENDENTLY CONTROLLING EACH SHAFT

摘要

PURPOSE: An active universal joint device with multi degrees of freedom system is provided to improve control performance by maximally maintaining torque being transferred to each shaft by preventing length change of a driving wire of the shafts according to the movement of one of the shafts.;CONSTITUTION: An active universal joint device(100) with a system with multiple degrees of freedom comprises a universal joint(110), a Nth link(121), a (N+1)th link(122), a pair of driving wires(131), and a pair of second driving wires(132). First and second connection shafts(111,112) of the universal joint are formed across each other in the exterior of an annular shape. Both end parts of the first connection shaft are rotatably connected to a shaft connecting portion(121a) of the Nth link. Both end parts of the second connection shaft are rotatably connected to a shaft connecting portion of the (N+1)th link. The pair of first driving wires are led out from the Nth link and connected to the universal joint in a forward direction. The pair of the second driving wires is connected to the universal joint in a reverse direction after passing through a hollow portion of the universal portion.;COPYRIGHT KIPO 2013