# US 2019/0168400 A1 · Drive mechanism of two degrees of freedom > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168400 A1 - Document ID: US20190168400A1 - Status: Published application - Kind: A1 - Application number: 15/781,465 - Filed: 2016-12-05 - Published: 2019-06-06 - Earliest claimed: 2015-12-03 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha - Applicants: Kawasaki Jukogyo Kabushiki Kaisha - Inventors: Masayuki KAMON - Web page: https://patentgrep.com/patent/US20190168400A1 ## CPC - B25J 17/0275: {Universal joints, e.g. Hooke, Cardan, ball joints} - B25J 9/106: {with articulated links} - B25J 9/123: {Linear actuators} - B25J 17/00: Joints - B25J 17/0266: {comprising more than two actuating or connecting rods} - F16C 11/06: Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints (universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts F16D3/16) - F16H 21/02: the movements of two or more independently-moving members being combined into a single movement - F16H 21/46: with movements in three dimensions [3D] - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16C: SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS - F16H: GEARING - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted. ## Claims ### Claim 1 A drive mechanism for transmitting power to a driven body so as to drive the driven body at an operation of two degrees of freedom, comprising: a base portion having a center axis; a universal joint for tiltably connecting the driven body to the base portion; and a power transmission unit for transmitting the power to the driven body, wherein the universal joint has a first rotational axis orthogonal to the center axis and a second rotational axis orthogonal to the first rotational axis and tiltable about the first rotational axis, wherein the driven body is provided to the universal joint so as to be rotated about the second rotational axis, wherein the power transmission unit has a pair of link mechanisms which are arranged on both sides with respect to a first imaginary plane including the center axis and the first rotational axis, and wherein each of the pair of link mechanisms has a first link member having a base end portion provided to the base portion so as to be rotated about a third rotational axis perpendicular to the first imaginary plane, a second link member having a base end portion connected to a distal end portion of the first link member so as to be rotated about a fourth rotational axis parallel to the third rotational axis, and a third link member which is provided to the driven body so as to be rotated about a fifth rotational axis in a second imaginary plane perpendicular to the second rotational axis and to which a distal end portion of the second link member is provided so as to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. ### Claim 2 (depends on 1) The drive mechanism according to claim 1, wherein the distal end portion of the first link member and the base end portion of the second link member are connected by a spherical joint. ### Claim 3 (depends on 1) The drive mechanism according to claim 1, wherein the distal end portion of the second link member and the third link member are connected by a spherical joint. ### Claim 4 (depends on 1) The drive mechanism according to claim 1, further comprising a power generation unit for generating the power, wherein the power generation unit has a pair of drive sources which are arranged on both sides with respect to the first imaginary plane. ### Claim 5 (depends on 4) The drive mechanism according to claim 4, wherein the pair of drive sources has a pair of cylinders, and wherein a distal end of each rod of the pair of cylinders is connected to the first link member. ### Claim 6 (depends on 5) The drive mechanism according to claim 5, wherein the pair of cylinders are provided to the base portion so as to be rotated about a seventh rotational axis perpendicular to the first imaginary plane. ### Claim 7 (depends on 5) The drive mechanism according to claim 5, wherein the cylinder is an electric cylinder having a screw shaft and a nut screwed to the screw shaft, and wherein the power generation unit is configured such that the screw shaft is rotationally driven thereby driving the nut forward and backward to generate the power. ### Claim 8 (depends on 1) The drive mechanism according to claim 1, wherein a distance between the third rotational axis and the fourth rotational axis is different from a distance between the second rotational axis and the sixth rotational axis when the sixth rotational axis is parallel to the second rotational axis.