Robot of the drive mechanism and a humanoid robot

摘要

PROBLEM TO BE SOLVED: To provide a joint mechanism of a human type robot compatible in both a quick articulating speed and a large joint torque.;SOLUTION: A robot driving mechanism is structured so that a joint located at a joining part between a first link and a second link can be driven by a link mechanism consisting of the first and second links, an active link, and an arm link and one actuator, in which the actuator is arranged at the first link, and the active link has one end coupled with the active output shaft driven by the actuator, while the arm link has one end rotatably journaled by a first shaft installed on the active link and other end rotatably journaled by a second shaft installed on the second link. The link mechanism is configured so that the straight line connecting the joint axis to the second shaft and the straight line connecting the first shaft to the second shaft are overlapped or approximately in parallel in the attitude applied with a low load.;COPYRIGHT: (C)2008,JPO&INPIT