ROBOT ARTICULATION IN WHICH POWER TRANSMISSION AND SUPPORT ARE INTEGRATED AND THREE-DIMENSIONAL ARTICULATION USING THE SAME

摘要

PURPOSE: A robot articulation in which power transmission and support are integrated and a three-dimensional articulation using the same are provided to make precise control possible even if the number of parts comprising an articulation is reduced, to prevent an accident or the sticking of foreign matters by minimizing the gap in the articulation, and to easily design anthropomorphic robot by making control and wiring easy. CONSTITUTION: An articulation comprises a gear installed on the front end of a rod directly connected to a power source and an adapter(1) having a rack gear for receiving the gear in the central position and a ball joint. One member is connected to the adapter, while another member is connected to a shaft in the ball joint. The gear is a bevel gear typed pinion gear, and the rack gear is an internal gear.