Joint structure for robot
AssigneeOMRON Corporation
InventorKazutoshi TANAKA
Life of this patent
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Abstract
A joint structure for connecting a first element and a second element included in a robot includes a Stewart platform that controls a position and/or an angle of the second element relative to the first element. The Stewart platform includes a first member to be joined to the first element, a second member to be joined to the second element, multiple legs connecting the first member and the second member, a driver that changes an effective length of each of the legs to change a position and/or an angle of the second member relative to the first member, and a soft structure that elastically changes the effective length of each of the legs in response to an external force applied to the second member and restores the effective length of each of the legs in response to the external force being removed.
Claims12
A joint structure for connecting a first element and a second element included in a manipulator for a robot, the joint structure comprising:
- a Stewart platform configured to control at least one of a position or an angle of the second element relative to the first element,
- the Stewart platform including
- a first member to be joined to the first element,
- a second member to be joined to the second element,
- a plurality of legs connecting the first member and the second member,
- a driver configured to change an effective length of each of the plurality of legs to change at least one of a position or an angle of the second member relative to the first member, and
- a soft structure configured to elastically change the effective length of each of the plurality of legs in response to an external force applied to the second member and to restore the effective length of each of the plurality of legs in response to the external force being removed.
Dependencies are inferred from the claim text.