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1. (WO2013061868) ARTICULAR STRUCTURE FOR ROBOT AND ROBOT WITH INCORPORATED ARTICULAR STRUCTURE

Pub. No.:    WO/2013/061868    International Application No.:    PCT/JP2012/077043
Publication Date: Fri May 03 01:59:59 CEST 2013 International Filing Date: Sat Oct 20 01:59:59 CEST 2012
IPC: B25J 17/00
F16C 11/06
F16C 17/10
Applicants: THK CO.,LTD.
THK株式会社
Inventors: NAGATSUKA, Masaki
永塚 正樹
Title: ARTICULAR STRUCTURE FOR ROBOT AND ROBOT WITH INCORPORATED ARTICULAR STRUCTURE
Abstract:
Provided is an articular structure for a robot whereby a joint having a degree of freedom of 2 or higher can be achieved and which enables a reduction in the size of the joint. This articular structure for a robot is provided with: a first intermediate link (26a) rotatably supported about a first axis on a first member (22); a first arm (25a) having one end coupled to a second member (23) via a ball joint and the other end coupled to the first intermediate link (26a) via a (ball joint); a first actuator (28a) for rotating the first intermediate link (26a) about the first axis; a second intermediate link (26b) rotatably supported about a second axis on the first member (22); a second arm (25b) having one end coupled to the second member (23) via a ball joint and the other end coupled to the second intermediate link (26b) via a ball joint; and a second actuator (28b) for rotating the second intermediate link (26b) about the second axis.