ROBOT HAVING WRIST OF THREE DEGREES OF FREEDOM

摘要

PURPOSE: To use as a power source an actuator such as a motor with a relatively small output horsepower or torque as well as a light weight to minimize rotational errors caused by the backlash of bevel or spur gears in a transmission or the clearance of a bearing part, to increase the rigidity of transmission parts and reduce the weight of a wrist system, and to simplify equations for determining operation paths. ;CONSTITUTION: An upper arm part 104 consists of a wrist drive part 4 and a wrist part 1. In the wrist drive part 4, a torsion shaft 16a is provided for an actuator 12a via a first speed reducer, a bending shaft 16b is provided for an actuator 12b via a first speed reducer 13b, and a rotation shaft 16c is provided for an actuator 12c via a first speed reducer 13c. Shafts 16a, 16b, 16c are provided concentrically. The torsion shaft 16a is linked with the wrist part 1 via a second speed reducer 15 and the bending shaft 16b and the rotation shaft 16c are also linked with the wrist part 1.;COPYRIGHT: (C)1993,JPO&Japio