ARM STRUCTURE CAPABLE OF DAMPING THE INERTIAL FORCE AND A LONGITUDINAL EXTERNAL FORCE WITHOUT OVERLOAD ON A DRIVING UNIT

摘要

PURPOSE: An arm structure is provided to minimize the inertial force such as backlash and maximize the response property.;CONSTITUTION: An arm structure comprises a rotation driving unit(30), a multi-joint link, and a suspension unit(80). The rotation driving unit is coupled to a base(20) and drives an arm(90) to be pitched. The multi-joint link includes a first link(51) whose first end is rotatable and second end is fixed to a rotary shaft of the rotation driving unit and a fourth link(52) which is parallely connected to the first link with an end connected to the second end of the first link and the other connected to the arm. The multi-joint link transfers the torque of the rotation driving unit to the arm. The suspension is connected to the fourth link on an end so as to buffer the movement of the fourth link to a base.;COPYRIGHT KIPO 2011