JP5528896B2 - リンク機構 - Google Patents
リンク機構 Download PDFInfo
- Publication number
- JP5528896B2 JP5528896B2 JP2010103094A JP2010103094A JP5528896B2 JP 5528896 B2 JP5528896 B2 JP 5528896B2 JP 2010103094 A JP2010103094 A JP 2010103094A JP 2010103094 A JP2010103094 A JP 2010103094A JP 5528896 B2 JP5528896 B2 JP 5528896B2
- Authority
- JP
- Japan
- Prior art keywords
- link
- link member
- swinging
- swing
- rocking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000006073 displacement reaction Methods 0.000 description 5
- 239000011435 rock Substances 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G11/00—Manually-actuated control mechanisms provided with two or more controlling members co-operating with one single controlled member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C11/00—Pivots; Pivotal connections
- F16C11/04—Pivotal connections
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/32—Articulated members
- Y10T403/32606—Pivoted
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20341—Power elements as controlling elements
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Description
Claims (3)
- 複数のリンク部材で構成され、揺動部を非揺動部に対して揺動自在となるように該揺動部と該非揺動部とを連結するリンク機構において、
前記非揺動部に固定されるベース部材と、
前記揺動部に固定される出力部材と、
前記ベース部材の前記揺動部の揺動方向の一方側の部分に揺動自在に設けられた第1リンク部材と、
前記ベース部材の前記揺動部の揺動方向の他方側の部分に揺動自在に設けられた第2リンク部材と、
前記出力部材の前記揺動方向の一方側の部分に揺動自在に設けられた第3リンク部材と、
前記出力部材の前記揺動方向の他方側の部分に揺動自在に設けられた第4リンク部材とを備え、
前記第3リンク部材の揺動端部は、前記第1リンク部材の前記揺動方向の一方側であって、前記出力部材よりも前記非揺動部から離隔する位置に配置された第1接続軸上で前記第1リンク部材に揺動自在に連結され、
前記第4リンク部材の前記揺動方向の他方側の揺動端部は、前記第1リンク部材の前記揺動方向の他方側であって、前記出力部材よりも前記非揺動部から離隔する位置に配置された第2接続軸上で前記第1リンク部材に揺動自在に連結され、
前記第2リンク部材の揺動端部は、前記第4リンク部材の前記揺動方向の一方側の揺動端部に配置された第3接続軸上で前記第4リンク部材に揺動自在に連結されることを特徴とするリンク機構。 - 請求項1記載のリンク機構において、
前記第1リンク部材と前記ベース部材とが連結される揺動軸を支点として、前記第1リンク部材を前記ベース部材に対して揺動させる1つのアクチュエータが設けられることを特徴とするリンク機構。 - 請求項1又は請求項2に記載のリンク機構において、
前記揺動部は人型ロボットの頭部であり、前記非揺動部は人型ロボットの胴部であり、前記揺動方向の一方は前方であり、前記揺動方向の他方は後方であることを特徴とするリンク機構。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010103094A JP5528896B2 (ja) | 2010-04-28 | 2010-04-28 | リンク機構 |
US13/084,762 US8424410B2 (en) | 2010-04-28 | 2011-04-12 | Link mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010103094A JP5528896B2 (ja) | 2010-04-28 | 2010-04-28 | リンク機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011231864A JP2011231864A (ja) | 2011-11-17 |
JP5528896B2 true JP5528896B2 (ja) | 2014-06-25 |
Family
ID=44857203
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010103094A Expired - Fee Related JP5528896B2 (ja) | 2010-04-28 | 2010-04-28 | リンク機構 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8424410B2 (ja) |
JP (1) | JP5528896B2 (ja) |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3888023A (en) * | 1974-08-21 | 1975-06-10 | Jardine Ind Inc | Physical training robot |
JPS5674153U (ja) * | 1979-11-13 | 1981-06-17 | ||
JPS634184A (ja) * | 1986-06-25 | 1988-01-09 | スガツネ工業株式会社 | リンク式バランス蝶番 |
US5214749A (en) * | 1991-06-12 | 1993-05-25 | Massachusetts Institute Of Technology | Dynamic control of a robot with its center of mass decoupled from an end effector by a redundant linkage |
JP3025388B2 (ja) * | 1993-04-27 | 2000-03-27 | サミー株式会社 | 遊技機 |
JP3298853B2 (ja) * | 1999-10-21 | 2002-07-08 | タキゲン製造株式会社 | 7軸型蝶番 |
KR100501093B1 (ko) * | 2000-11-17 | 2005-07-18 | 혼다 기켄 고교 가부시키가이샤 | 2족 보행 로봇 |
FR2839916B1 (fr) * | 2002-05-22 | 2004-10-15 | Agence Spatiale Europeenne | Exosquelette pour bras humain, notamment pour des applications spatiales |
JP4236900B2 (ja) * | 2002-10-22 | 2009-03-11 | 本田技研工業株式会社 | ロボットの関節構造 |
JP4592276B2 (ja) * | 2003-10-24 | 2010-12-01 | ソニー株式会社 | ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム |
JP4516344B2 (ja) * | 2004-04-12 | 2010-08-04 | 本田技研工業株式会社 | 脚式移動ロボット |
JP4319974B2 (ja) * | 2004-12-14 | 2009-08-26 | 本田技研工業株式会社 | 人型ロボットの頭部支持構造 |
JP5451978B2 (ja) * | 2008-03-31 | 2014-03-26 | 日立オムロンターミナルソリューションズ株式会社 | 自動機のパネル開閉機構 |
KR101457147B1 (ko) * | 2008-05-14 | 2014-11-03 | 삼성전자 주식회사 | 인간형 로봇과 그 어깨관절 어셈블리 |
US8336420B2 (en) * | 2010-06-02 | 2012-12-25 | Disney Enterprises, Inc. | Three-axis robotic joint using four-bar linkages to drive differential side gears |
-
2010
- 2010-04-28 JP JP2010103094A patent/JP5528896B2/ja not_active Expired - Fee Related
-
2011
- 2011-04-12 US US13/084,762 patent/US8424410B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US8424410B2 (en) | 2013-04-23 |
US20110265598A1 (en) | 2011-11-03 |
JP2011231864A (ja) | 2011-11-17 |
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