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US 8,523,509 B2Granted
Robot
AssigneeSamsung Electronics Co., Ltd.
InventorsKang Min Park, Ja Woo Lee, Yong-Jae Kim
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Abstract
A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.
Claims11
A robot comprising:
- a robot arm;
- a robot hand having a finger joint;
- a first actuator and a power transmission which drive the finger joint;
- and
- a wrist joint which rotates the robot hand about the robot arm,
- wherein the wrist joint includes a yaw-direction wrist joint to rotate the robot hand about the robot arm in a yaw direction,
- wherein a position of the first actuator and the first power transmission is changed in cooperation with the yaw-direction wrist joint, and
- wherein the yaw-direction wrist joint includes a fixed frame provided at a side of the robot arm and a yaw-direction frame rotatably coupled with the fixed frame, and wherein the first actuator is coupled with the yaw-direction frame.
5 more elements
A robot comprising:
- a robot arm;
- a robot hand having a finger joint;
- a wrist joint which couples the robot arm with the robot hand;
- a first actuator and a first power transmission which drive the finger joint;
- and
- a yaw-direction frame which allows the wrist joint to rotate about the robot arm in a yaw direction,
- wherein the first actuator is coupled with the yaw-direction frame, so that a length of the first power transmission coupling the first actuator with the finger joint is maintained,
- wherein the yaw-direction frame is rotatably coupled with the robot arm, and
- wherein the first actuator includes a shaft part coupled with the yaw-direction frame, and the yaw-direction frame includes a hole receiving the shaft part.
6 more elements
Dependencies are inferred from the claim text.