Arm device and cable deceleration device
AssigneeSony Group Corporation
InventorKazuhito Wakana
Life of this patent
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Abstract
Provided is an arm device in which a cable deceleration structure with improved degree of freedom of arrangement of a motor is applied to an active joint. The arm device includes one or more active shafts and includes an input capstan attached to an output shaft of a motor for driving at least one active shaft of the one or more active shafts, an output capstan attached to the at least one active shaft, an idler pulley disposed between the input capstan and the output capstan, and a cable wound around an outer periphery of each of the input capstan and the output capstan via the idler pulley.
Claims24
An arm device, comprising:
- a first input capstan attached to a first output shaft of a first motor;
- a first output capstan apart from the first input capstan;
- a first idler pulley between the first input capstan and the first output capstan;
- and
- a cable wound around an outer periphery of each of the first input capstan and the first output capstan via the first idler pulley, wherein the first idler pulley is adjacent to the first output capstan.
A cable deceleration device, comprising:
- an input capstan attached to an output shaft of a motor;
- an output capstan is apart from the input capstan;
- an idler pulley between the input capstan and the output capstan;
- and
- a cable wound around an outer periphery of each of the input capstan and the output capstan via the idler pulley, wherein
- the idler pulley is adjacent to the output capstan.
Dependencies are inferred from the claim text.