KR101914153B1 - A joint structure using parallel mechanism and a robot having the same - Google Patents

Abstract

A joint structure having a parallel type mechanism according to an embodiment of the present invention includes a movement platform, a fixed platform spaced apart from the movement platform, a plurality of drive parts coupled to the stationary platform to generate a drive force, Wherein the connector includes: a rotary joint coupled to the driving unit and rotating within a predetermined angle; an arc-shaped guide member connected to the rotary joint; and a plurality of connectors A translational joint including a sliding member that moves, and a spherical joint connected to the sliding member and coupled with the motion platform to actuate the motion platform.

Description

Technical Field [0001] The present invention relates to a joint structure using a parallel type mechanism and a robot equipped with the joint structure.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint structure using a parallel type mechanism and a robot having the same, and more particularly, to a joint structure capable of controlling a posture of a movement platform with respect to a fixed platform and a robot employing the joint structure.

The humanoid joint of the humanoid robot plays an important role in realizing the support and posture of the hand load.

The joint structure for this purpose is composed of a directional mechanism with three degrees of freedom so as to enable various movements of hands and complex movements, and plays a role of supporting the force applied to the tip of the hand.

Because of the nature of the hands implemented by these articulated structures, it is possible to achieve both precision and wide range of motion simultaneously, since it also implements fine motion.

However, since the wrist joint structure is constrained by the space in which it is placed, the range of motion and the size of the structure are important factors.

Conventionally, such a wrist joint structure is constructed using a series mechanism.

In the series type mechanism, the power transmission is efficient because the drive shaft is designed independently. However, as the force applied to the end becomes larger, the size of the actuator becomes larger due to the nature of the serial type mechanism, .

Therefore, the mechanism of parallel or spherical shape is devised. It is easy to support high load due to the nature of the mechanism, and it is possible to realize all postures. However, there are interference problems due to the combination of joints in design, Which is disadvantageous in that the power transmission efficiency is degraded.

In addition, the tendon-based mechanism is very efficient in terms of size and motion implementation, but its power transmission efficiency and accuracy are poor.

Therefore, there is an increasing demand for a mechanism that can be applied to a wrist joint having a maximum power transmission performance with a minimum size by using a joint combination having an optimal space efficiency.

Related technology is disclosed in Korean Patent Registration No. 10-1483081 entitled " Wrist Assembly of Parallel Robot Using Differential Gear "(Published Date: 2015.01.09).

The present invention provides a joint structure using a parallel type mechanism having a maximum power transmission performance with a minimum size using a joint combination having an optimal space efficiency and a robot equipped with the joint structure.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

A joint structure having a parallel type mechanism according to an embodiment of the present invention includes a movement platform, a fixed platform spaced apart from the movement platform, a plurality of drive parts coupled to the stationary platform to generate a drive force, Wherein the connector includes: a rotary joint coupled to the driving unit and rotating within a predetermined angle; an arc-shaped guide member connected to the rotary joint; and a plurality of connectors A translational joint including a sliding member that moves, and a spherical joint connected to the sliding member and coupled with the motion platform to actuate the motion platform.

In addition, the driving units according to an embodiment of the present invention are spaced apart at equal intervals, and the plurality of connectors are independently driven by being coupled with the driving unit.

Further, the translational joint according to an embodiment of the present invention is formed to be bent in the outward direction of the fixed platform.

Further, the rotary joint according to an embodiment of the present invention is a driving joint rotated by a driving force transmitted from the driving unit, and the translating joint and the spherical joint are passive joints operated by the driving joint .

The rotating joint according to an embodiment of the present invention includes a connecting member extending from one end of the rotating joint and being bent in a direction opposite to the driving unit, And extend in the vertical direction with respect to the bent direction.

According to an embodiment of the present invention, the driving unit is formed with a rotating shaft protruding at one end, and the rotating joint is formed with a through hole through which the rotating shaft is inserted.

In addition, the driving unit according to an embodiment of the present invention includes a motor for providing power for rotating the rotating shaft, and a harmonic drive for decelerating the output of the motor.

In addition, the moving platform and the fixed platform according to an embodiment of the present invention may have a flat plate shape in which a connector extending horizontally toward the outer direction in a number corresponding to the plurality of connectors is formed, The sieve is coupled to the spherical joint, and the connecting member of the fixed platform is coupled to the driving unit.

Further, the rotary joint according to an embodiment of the present invention is formed to be rotatable about the rotary shaft as a first rotary shaft, and the translational joint is formed to be translated with reference to a second rotary shaft passing through the center of the arc , The first rotation axis and the second rotation axis intersect at a single rotation center point.

The spherical joint according to an embodiment of the present invention is characterized in that one extension axis passing through the center of the sphere crosses at the center of rotation.

In addition, the first rotation axis, the second rotation axis, and the extension axis intersect perpendicularly according to an embodiment of the present invention.

In addition, the first rotation axis, the second rotation axis, and the extension axis according to an embodiment of the present invention are characterized in that an axis angle at which the mutually intersecting elements are always kept vertical during operation of the connector.

A robot having a joint structure having a parallel type mechanism according to an embodiment of the present invention includes a joint structure having the above-described parallel type mechanism structure, a joint member fixed to the upper portion of the movement platform, and a body portion fixed to the joint member And the posture of the body part is controlled by the operation of the movement platform.

According to an embodiment of the present invention, the body portion is a hand of a humanoid robot, and the joint structure forms a wrist joint of the humanoid robot.

According to the present invention, maximum power transmission performance can be realized with minimum size by using a joint combination having an optimal space efficiency.

Also, in order to realize the optimal wrist motion, all the rotational axes of the joint are designed to be within the error range, and the over constraint that can occur at this time can be solved by using the spherical joint.

In addition, it is possible to support the weight applied to the humanoid wrist by a small-capacity motor, minimize the interference between the joints, obtain desired motion and attitude, and achieve the miniaturization and weight reduction of the mechanism at the same time.

Further, each connector can solve the restraint by using a combination of joints in the form of RPS, thereby improving stability in driving.

1 is a perspective view of a joint structure using a parallel type mechanism according to an embodiment of the present invention.
2 is a perspective view of a driving unit according to an embodiment of the present invention.
3 is a perspective view of a connector according to an embodiment of the present invention.
4 is a view illustrating a combined state of a driving unit and a connector according to an embodiment of the present invention.
5 is a view for showing a connector axis according to an embodiment of the present invention.
6 is a diagram illustrating a driving method of a joint according to an embodiment of the present invention.
7 is a conceptual diagram illustrating inverse kinematic analysis of a parallel mechanism according to an embodiment of the present invention.
8 is a diagram illustrating a prototype of a joint structure according to an embodiment of the present invention.
9 is a diagram illustrating a prototype of a robot having a joint structure according to an embodiment of the present invention.
FIGS. 10A and 10B are views showing a transversal rotation operation of a joint structure using a parallel type mechanism according to an embodiment of the present invention.
FIGS. 11A to 11C are views sequentially illustrating a rotation operation of a robot having a joint structure using a parallel type mechanism according to an embodiment of the present invention.
12A and 12B are views showing a lateral bending operation of a joint structure using a parallel type mechanism according to an embodiment of the present invention.
FIGS. 13A to 13C are views sequentially illustrating a lateral bending operation of a robot having a joint structure using a parallel type mechanism according to an embodiment of the present invention.
14A and 14B are longitudinal bending operations of a joint structure using a parallel type mechanism according to an embodiment of the present invention.
FIGS. 15A to 15E are views sequentially illustrating a longitudinal bending operation of a robot having a joint structure using a parallel type mechanism according to an embodiment of the present invention.
16A to 16D are views illustrating a combined movement of a robot having a joint structure using a parallel type mechanism according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

1 is a perspective view of a joint structure using a parallel type mechanism according to an embodiment of the present invention.

Referring to FIG. 1, a joint structure 10 according to the present invention includes a moving platform 100, a fixed platform 200 spaced apart from the moving platform 100 by a predetermined distance, And a plurality of connectors 400 disposed between the driving unit 300 and the motion platform 100 to connect the two platforms.

The plurality of connectors 400 may be arranged radially with respect to the center of the fixed platform 200 and may include a number corresponding to the number of the driver 300 and may be radially arranged with respect to the center of the fixed platform 200 .

The driving unit 300 is coupled to the fixed platform 200 and is disposed at equal intervals to surround the fixed platform 200 so as to implement a parallel type mechanism and the plurality of connectors 400 are connected to the driving unit 300, And can be driven independently.

As the driving units 300 are spaced apart from each other by a predetermined distance, the respective connectors 400 coupled with the driving unit 300 are spaced apart from each other by a predetermined distance, thereby minimizing interference between the connectors 400.

For example, the driving unit 300 may be disposed at intervals of 120 degrees so as to surround the fixed platform 200 with respect to the fixed platform 200, and the connector 400 may be coupled to each of the driving units 300 .

It is preferable that the driving unit 300 is inclined toward the center of the fixed platform 200 in order to minimize the total volume of the joint structure 10 with respect to the coupling structure of the driving unit 300 and the fixed platform 200 Do.

The connector 400 coupled to the driving unit 300 is also inclined toward the center of the fixed platform 200 when the driving unit 300 is inclined so as to have a predetermined angle toward the center of the fixed platform 200, The plurality of connectors 400 may be disposed so as to intersect with each other within a range that does not interfere with each other, so that the total volume of the joint structure 10 can be minimized.

FIG. 2 is a perspective view of a driving unit according to an embodiment of the present invention, FIG. 3 is a perspective view of a connector according to an embodiment of the present invention, FIG. Fig.

Referring to FIGS. 2 to 4, the driving unit 300 forms a first module, the connector 400 forms a second module, and by the combination of the first module and the second module, RPS connector 400 is formed.

The connector 400 is for receiving the driving force from the driving unit 300 to operate the moving platform 100 and may be disposed therebetween to couple the driving unit 300 and the moving platform 100, (410), translational joint (420), and spherical joint (430).

That is, the connector 400 according to the present invention corresponds to the RPS connector 400 including the rotary joint 410, the parallel joint 420, and the spherical joint 430.

The rotary joint 410 is coupled to the driving unit 300 and rotates within a predetermined angle range.

The translational joint 420 is formed to extend from the rotary joint 410 and is curved in an arc shape. Preferably, the translational joint 420 includes an arc-shaped guide member connected to the rotary joint 410, And a sliding member.

At this time, the translating joint 420 may be formed to be bent in the outward direction of the fixed platform 200.

The rotational joint 410 is a driving joint rotated by the driving force transmitted from the driving unit 300 and the translating joint 420 and the spherical joint 430 are manual joints operated by the driving joint.

Since the translating joint 420 is formed to bend outwardly of the fixed platform 200, the operation range of the connector 400 can be ensured as efficiently as possible even in the same space, and interference between the connectors 400 can be minimized .

The spherical joint 430 extends from the translational joint 420 and is preferably connected to the sliding member of the translational joint 420 and is coupled with the motion platform 100 to move the motion platform 100 .

The spherical joint 430 may be formed extending from the translational joint 420 and may be disposed at a specific position extending obliquely from a portion of the translational joint 420 and a protruding member 431 may be disposed at the translational joint 420 420, and the spherical joint 430 may be formed at one end of the protruding member 431. In addition,

The rotary joint 410 may include a connecting member 411 that extends from one end of the rotary joint 410 and is bent in a direction opposite to the driving unit 300.

The connecting member 411 corresponds to a plate-like member for connecting the rotating joint 410 and the translating joint 420. The translating joint 420 includes the connecting member 411 at one end of the connecting member 411, May extend in the vertical direction with respect to the direction in which the bent portions are bent.

Since the translating joint 420 is formed to extend in the vertical direction at one end of the connecting member 411, the operation range of the connector 400 can be ensured as efficiently as possible even in the same space, and the interference between the connectors 400 can be minimized .

The driving unit 300 may include a rotating shaft 310 protruding from one end thereof to receive power from the motor 320. The rotating joint 410 may include a through hole for the rotating shaft 310 to be inserted therethrough, (412) may be formed.

The through hole 412 of the rotary joint 410 and the rotary shaft 310 of the driving unit 300 are coupled to each other so that the connector 400 and the driving unit 300 can be coupled with each other. Bonding is preferred, but is not limited thereto.

The driving unit 300 includes a motor 320 that is a flat motor and a harmonic drive 330 that is connected to the shaft of the motor 320 of the motor 320 to decelerate the rotation. .

The motor 320 may provide power for rotating the rotating shaft 310 and the harmonic drive 330 may decelerate the output of the motor 320. [

The reduction ratio between the harmonic drive 330 and the motor 320 is set to be 100: 1 so that a high torque can be transmitted to the rotary shaft 310.

The motive power of the motor 320 in the driving unit 300 can be transmitted to the connector 400 through the rotating shaft 310. The combination of the motions of the plurality of connectors 400 can finally reduce the posture of the moving platform 100 Can be controlled.

The moving platform 100 and the fixed platform 200 may be formed in the form of a branch-like connector extending in an outward direction corresponding to the plurality of connectors 400.

The connecting body of the moving platform 100 may be coupled to the ball joint 430 and the connecting body of the fixed platform 200 may be coupled to the driving unit 300.

The drive unit 300 has a plate-like coupling plate 301 formed at one end thereof and a coupling hole 302 is formed in the coupling plate 301 to be coupled to the fixed platform 200. The coupling plate 301 may be a bolt- Various coupling methods can be applied.

The fixed platform 200 determines the entire coupling structure by fixing the driving unit 300. The moving platform 100 operates according to the information input to the driving unit 300 to implement the final attitude.

5 is a view for showing a connector axis according to an embodiment of the present invention.

5, the rotary joint 410 is formed so as to be rotatable about the rotary shaft 310 corresponding to the axis of the motor 320 as the first rotary shaft S1, And is configured to be translated on the basis of the second rotation axis S2 passing therethrough.

For example, when the rotary joint 410 rotates about the first rotary shaft S1 by the driving unit 300, the rotary joint 420 formed in the rotary joint 410 is manually operated The translational joint 420 is formed to rotate or translate about the second rotary shaft S2 due to the coupling structure of the rotary joint 410 and the translational joint 420 and the shape of the translational joint 420, do.

Preferably, the first rotation axis S1 and the second rotation axis S2 are designed to intersect at one rotation center O.

The spherical joint 430 is designed such that one extending axis S3 passing through the center of the sphere intersects the rotational center point O. [

At this time, the first rotation axis S1, the second rotation axis S2, and the extension axis S3 are designed to cross each other vertically.

In addition, the first rotation axis S1, the second rotation axis S2, and the extension axis S3 can be maintained such that the axis angle at which the connectors 400 intersect each other is always vertical, And the power transmission efficiency can be maximized.

6 is a diagram illustrating a driving method of a joint according to an embodiment of the present invention.

Referring to FIG. 6, the rotary joint 410 may rotate clockwise or counterclockwise. When the rotary joint 410 rotates or translates based on the center of the arc, And the spherical joint 430 can be rotated in three directions.

7 is a conceptual diagram illustrating inverse kinematic analysis of a parallel mechanism according to an embodiment of the present invention.

Given a rotational transformation matrix R of the mobile platform, the rotation transformation matrix Q _i (i = 1, 2, 3) to the spherical joint (B _i ) on the motion platform, Can be obtained from the following formula (1).

[Equation 1]

Here, ρ _i is the angle between B ₁ and B _i (i = 1, 2, 3), β is the perpendicular to the center of rotation of the translational joint, Represents the angle between axes.

The rotation transformation matrix (T _i ) from the origin coordinate system to the spherical joint on the motion platform can also be expressed by the following equation (2) by the input Θ _i2 of the driving unit.

[Equation 2]

Here, ρ _i represents the angle between A ₁ and A _i (i = 1, 2, 3), and α represents the angle between the fixed platform and the rotary joint.

In Equation (2), R (axis, value) denotes a coordinate transformation matrix that rotates about the axis by a value specified in the axial direction.

If the rotational center of the three connectors in Equation 2 is designed to meet at one point, the displacement of? I4 and? I5 becomes zero.

In the above equation (2), the third column and the third column of the conversion matrix T _i are the same as the third column and the third column of the Q _i , and can be expressed by the following equation (3).

[Equation 3]

In Equation (3), C represents cos and S represents sin.

When the equation (3) is calculated in _parallel , the input Θ _i2 of the driving unit can be obtained as follows.

[Equation 4]

FIG. 8 is a view showing a prototype of a joint structure according to an embodiment of the present invention, and FIG. 9 is a view illustrating a prototype of a robot having a joint structure according to an embodiment of the present invention.

8 and 9, the joint structure 10 according to an embodiment of the present invention independently controls the motors 320 of the driving units 300 connected to the three connectors 400, The posture of the exercise platform 100 can be changed.

Accordingly, since the posture of the object coupled to the exercise platform 100 can be changed, the joint structure 10 according to the embodiment of the present invention can be used for the joint of the robot and the like.

Specifically, the robot includes a joint structure 10 using the above-described parallel type mechanism, a joint member 20 fixed to the upper portion of the movement platform 100, and a body portion 30 fixed to the joint member 20 .

The engaging member 20 and the body portion 30 are shown in Figs. 8 and 9, respectively, which will be described later.

This robot is characterized in that the posture with respect to the body portion 30 is controlled by the motion of the exercise platform 100.

For example, the body portion 30 corresponds to the hands of the humanoid robot, and the joint structure 10 can form the wrist joints of the humanoid robot.

Hereinafter, a joint structure 10 using a parallel mechanism according to the present invention will be described in more detail with reference to embodiments of the present invention. However, these examples are for illustrative purposes only, and the scope of the present invention is not limited to these examples.

First, the desired device's posture is entered on the GUI to operate the device.

The input attitude is inputted to the control device, and the control device calculates and inputs the control input of the motor 320 in the driving part 300 through the above-described inverse kinematic analysis.

Finally, the motor 320 may be driven to move the motion platform 100 or the body 30 to a desired posture.

FIGS. 10A and 10B are views showing a transversal rotation operation of a joint structure using a parallel type mechanism according to an embodiment of the present invention. FIGS. 11A to 11C are views showing a joint operation using a parallel type mechanism according to an embodiment of the present invention. Fig. 2 is a diagram showing a sequence of a rotation operation of a robot having a structure. Fig.

Hereinafter, the motor 1 corresponds to a motor disposed behind and the motor 2 corresponds to a motor disposed counterclockwise with respect to the motor 1.

Referring to the drawings, the articulated structure 10 and the robot having the articulated structure 10 are subjected to a transverse rotation operation rotating about the Z-axis.

The joint structures and robots according to the present embodiment have a transverse rotation range in the range of -50 DEG to 50 DEG.

At this time, the motors 1 to 3 are rotated in the clockwise direction when rotating in the + Z axis direction, and the motors 1 to 3 are rotated in the counterclockwise direction when rotating in the -Z axis direction.

FIGS. 12A and 12B are views showing a lateral bending operation of a joint structure using a parallel type mechanism according to an embodiment of the present invention. FIGS. 13A to 13C are views showing a joint structure using a parallel type mechanism according to an embodiment of the present invention. Fig. 3 is a diagram showing the lateral bending operation of the robot having the structure in order. Fig.

Referring to the drawings, the joint structure 10 and the robot having the joint structure 10 perform a lateral bending operation rotating about the Y axis.

The joint structure and the robot according to the present embodiment have a lateral bending operation range in the range of -45 [deg.] To 45 [deg.].

At this time, when the motor 1 rotates in the + Y axis direction, the motor 1 rotates counterclockwise, the motors 2 and 3 rotate in the clockwise direction, the motor 1 rotates in the clockwise direction when the motor 1 rotates in the Y axis direction, Is rotated counterclockwise.

FIGS. 14A and 14B are views showing a longitudinal bending operation of a joint structure using a parallel type mechanism according to an embodiment of the present invention. FIGS. 15A to 15E are views showing a joint structure using a parallel type mechanism according to an embodiment of the present invention. Fig. 8 is a diagram showing a longitudinal bending operation of a robot having a structure in order. Fig.

Referring to the drawings, the joint structure 10 and the robot having the joint structure 10 perform a longitudinal bending operation rotating about the X-axis.

The joint structure and the robot according to the present embodiment have a longitudinal bending range of -30 to 45 degrees.

At this time, when the motor 1 rotates in the + X axis direction, the motor 1 rotates in the clockwise direction, the motors 2 and 3 rotate in the counterclockwise direction, the motor 1 rotates in the counterclockwise direction, In the clockwise direction.

16A to 16D are views illustrating a combined movement of a robot having a joint structure using a parallel type mechanism according to an embodiment of the present invention.

The rotation direction and the rotation angle of the motor 320 can be controlled in a number of combinations and can be controlled in the same manner as rolls, yaws, and pitches within the space allowed by the joint structure 10, Complex motion can be realized.

If the outputs of the motors 320 are all the same, the body 30 of the robot bends on one of the X, Y, and Z axes. However, if the outputs of the motors 320 are adjusted differently, A compound bending motion with respect to the rotational direction of the motor 320 is possible.

As described above, the present invention has a new type of parallel mechanism that maximizes space efficiency and power transmission efficiency in consideration of a design condition with a space constraint of the wrist, and a translational joint formed to be curved in an arc shape or a curved line is used as a passive joint It is possible to maximize the space efficiency. In addition, vertical coupling between the shafts is possible, thereby maximizing power transmission.

The joint structure according to the present invention is a parallel type directional mechanism using a translational actuator and is composed of three RPS connectors and has a total of three degrees of freedom.

The joint structure according to the present invention maximizes space utilization and power transmission, supports a weight applied to the end of a humanoid arm with a small capacity motor, minimizes interference between joints, and can freely implement a desired operation and attitude, It is possible to attain both reduction in size and weight.

Further, each connector can solve the restraint by using a combination of joints in the form of RPS, thereby improving stability in driving.

As a result, according to the present embodiment, since the posture of the motion platform is controlled by the driving parts disposed in parallel, it is possible to form a joint structure having excellent power transmission efficiency and small size while supporting all postures , Which makes it suitable for the joints of robots which are relatively heavy and require large output.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

S1: first rotating shaft
S2:
S3: Extension shaft
O: rotation center point
10: Joint structure
20:
30:
100: Exercise platform
101:
200: Fixed platform
201: connector
300:
301: engaging plate
302: coupling hole
310: rotating shaft
320: motor
330: Harmonic drive
400: Connector
410: Rotary joint
411:
412: Through hole
420: translational joint
430: spherical joint
431:

Claims (14)

Motion platform;
A stationary platform spaced apart from the motion platform;
A plurality of drivers coupled to the fixed platform and generating a driving force; And
And a plurality of connectors disposed between the driving portion and the motion platform,
Wherein the connector comprises:
A rotating joint coupled to the driving unit and rotating in a predetermined angle range;
A translational joint including an arc-shaped guide member connected to the rotary joint, and a sliding member moving along the guide member; And
And a spherical joint connected to the sliding member and coupled with the motion platform to operate the motion platform.
The method according to claim 1,
The driving units are spaced apart at equal intervals,
Wherein the plurality of connectors are independently driven by being coupled with the driving unit.
3. The method of claim 2,
Wherein the translational joint is formed to be bent in an outward direction of the fixed platform.
The method of claim 3,
Wherein the rotary joint is a driving joint rotated by a driving force transmitted from the driving unit,
Wherein the translational joint and the spherical joint are passive joints operated by the drive joint. ≪ RTI ID = 0.0 > 18. < / RTI >
The method of claim 3,
The rotary joint includes:
And a connecting member extending from one end of the rotary joint and being bent in a direction opposite to the driving unit,
Wherein the translational joint is formed to extend in a vertical direction with respect to a direction in which the linking member is bent at one end of the linking member.
The method of claim 3,
The driving unit may include a rotating shaft protruding from one end thereof,
Wherein the rotary joint has a through hole through which the rotary shaft is coupled.
The method according to claim 6,
The driving unit includes:
A motor for providing power for rotating the rotating shaft; And
And a harmonic drive for decelerating the output of the motor.
The method of claim 3,
The movement platform and the stationary platform,
And a flat plate shape having a connecting body extending horizontally toward the outside direction in a number corresponding to the plurality of connectors,
Wherein the connecting body of the moving platform is engaged with the spherical joint,
Wherein the connecting member of the fixed platform is coupled to the driving unit.
The method according to claim 6,
Wherein the rotary joint is formed to be rotatable with the rotary shaft as a first rotary shaft,
Wherein the translational joint is formed to be translated with reference to a second rotation axis passing through the center of the arc,
Wherein the first rotation axis and the second rotation axis intersect at a single rotation center point. ≪ RTI ID = 0.0 > 18. < / RTI >
10. The method of claim 9,
Wherein the spherical joint intersects at an axis of rotation one extension axis passing through the center of the sphere.
11. The method of claim 10,
Wherein the first rotation axis, the second rotation axis, and the extension axis cross each other vertically.
12. The method of claim 11,
Wherein the first rotation axis, the second rotation axis,
Wherein an axis angle that intersects each other during the operation of the connector is always maintained at a vertical angle.
A joint structure having a parallel mechanism according to any one of claims 1 to 12;
An engaging member fixed to an upper portion of the movement platform; And
And a body fixed to the coupling member,
And the posture of the body part is controlled by the motion of the movement platform.
14. The method of claim 13,
The body part is a hand of a humanoid robot,
Wherein the joint structure forms a wrist joint of the humanoid robot.

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