KR20210059128A - Under­actuation mechanism of wrist and forearm which is capable of fully­independent motion in each degrees of freedom - Google Patents

Abstract

The present invention relates to a wrist-forearm underactuated joint device capable of completely independent driving of each degree of freedom and to a driving method thereof, and more specifically, to a wrist-forearm underactuated joint device capable of completely independent driving of each degree of freedom, which comprises: a first reference joint part; a motion joint part installed on one side of the first reference joint part, rotatably installed in a multiaxial direction with respect to the first reference joint part, and having a semi-ellipsoidal or ellipsoidal shape; and a forearm part structure including a plurality of forearm parts having one end connected to the other side of the first reference joint part, and a second reference joint part connected to the other end of the plurality of forearm parts, and being twisted and rotated based on the second reference joint part.

Description

Underactuation mechanism of wrist and forearm which is capable of fullyindependent motion in each degrees of freedom}

The present invention relates to a wrist-forearm short-actuated joint device capable of completely independent driving of each degree of freedom and a driving method thereof.

Artificial prosthetics are auxiliary devices that replace the body of patients whose upper body parts such as arms or wrists have been amputated. The robot artificial prosthesis refers to an artificial prosthesis in which a sensor to detect the movement of the wearer and an actuator to implement the intended motion are added.

Robot artificial prosthetics are largely distinguished from general artificial prostheses in that they can implement the wearer's will through motion, and can greatly enhance convenience in the wearer's daily life. Currently, the development of robotic artificial prostheses is being actively carried out at home and abroad, and there are robotic artificial prostheses in the commercialization stage abroad.

The number of patients with amputation at home and abroad is increasing, but the number of people wearing robot artificial prosthetics is small. There are about 150,000 patients in Korea who have part of the body amputated due to accidents, disasters, and diseases, and the number of patients is increasing by about 5,000 every year.

However, the number of users of Bebionic, one of the representative artificial prosthetics for robots, is 4 in Korea, and only a small number of them use it.

Users of existing robotic artificial prosthetics complain about weight, degree of freedom, and appearance. A prosthetic that is heavier than a person's arm brings great discomfort when worn for a long time. The robot artificial prosthetic arm, which has fewer degrees of freedom than the arm of a person with 7 degrees of freedom, has a problem that it cannot sufficiently implement the intended motion.

Absolutely many existing robot artificial prosthetics have a significantly different appearance and movement from humans by using a motor of rotational drive rather than a muscle of linear drive. Therefore, patients who lost their bodies tended to avoid wearing them due to the burden of being seen as differences from the general public were revealed, and the development of joint devices for application to robots, such as robot artificial prosthetics, proceeded in the direction of improving these problems. Has been.

For a robotic arm, the wrist joint is a very important joint that implements three degrees of freedom in a small volume. However, in order to independently drive all three degrees of freedom, three rotary actuators or six linear actuators are required, and the number of actuators increases the weight of the arm.

Currently, there have been many studies to reduce the total weight of the arm by reducing the number of actuators required. In general, the lack of driving mechanisms that simultaneously drive two degrees of freedom with one actuator occupy the majority.

However, since such a mechanism cannot independently drive each degree of freedom, there is a disadvantage that it is allowed to be used only in certain circumstances.

In addition, as the center of gravity of the robot arm is located closer to the body, the torque required by the motor decreases. From that point of view, it has changed from a method of directly driving a joint with a rotation actuator in the past, and recently, a method of indirectly driving a joint using a wire with the actuator on the body side is increasing.

However, in the case of this method, since the rotational degree of freedom is pulled by a linear wire and driven, two linear actuators are required for each degree of freedom.

That is, six linear actuators are required to drive three degrees of freedom, and although a large number of actuators can reduce the weight on the arm, the weight of the entire robot increases.

Therefore, it is required to develop a new type of multi-degree of freedom joint device capable of independently multi-degree of freedom mechanism while applying indirect wire drive through a small number of linear actuators.

Registered Patent 10-1949421 Korean Patent Registration 10-1693250 Korean Patent Registration 10-1910889 Korea Japanese Patent Registration JP4659098

Therefore, the present invention was conceived to solve the conventional problems as described above, and according to an embodiment of the present invention, even if six linear actuators are reduced to four, a mechanism capable of independent driving of three degrees of freedom can be presented. It is an object of the present invention to provide a wrist forearm deficient driving joint device capable of completely independent driving of each degree of freedom, and a driving method thereof.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

A first object of the present invention is a multi-degree of freedom joint device that implements a joint portion so as to be applicable to a robot, comprising: a first reference joint; A motion joint portion installed on one side of the first reference joint portion, installed to be rotatable in a multiaxial direction with respect to the first reference joint portion, and having a semi-elliptical shape or an ellipsoid shape; And a plurality of forearm portions having one end connected to the other side of the first reference joint part, and a second reference joint part connected to the other end of the plurality of forearm parts, the forearm structure being twisted and rotated based on the second reference joint part. It can be achieved as a wrist forearm under-drive joint device capable of completely independent driving of each degree of freedom, characterized in that it comprises a.

And the forearm structure, the upper end is connected to one side of the lower end of the first reference joint, the lower end is connected to the second rotation axis of the second reference joint, and the lower end is the other side of the upper end of the second reference joint. And a second forearm portion connected to and having an upper end connected to the first rotation shaft of the first reference joint part, the first forearm part and the second forearm part on one side and the other side based on the first rotation axis and the second rotation axis. It may be characterized in that it is configured to be twisted and rotated in the direction.

In addition, the extension line of the first rotation shaft may be characterized in that it coincides with the direction of the second rotation shaft.

And four first through holes formed in each corner of the first reference joint, four insertion holes formed in each of the corners of the motion joint, and four fourths formed at each of the corners of the second reference joint. It may be characterized in that it includes two through holes.

In addition, each end is fixed to the insertion hole, each of the plurality of wires passing through the insertion hole, the first through hole and the second through hole to be connected to the linear actuator; may be characterized in that it comprises a.

And a first wire fixed to one of the four insertion holes and passed through the first through hole and the second through hole to be connected to the first linear actuator, and another adjacent one of the insertion holes in which the first wire is fixed. The second wire is fixed to the insertion hole and passed through the first through hole and the second through hole to be connected to the second linear actuator, and the second wire is fixed to another insertion hole adjacent in one direction of the fixed insertion hole. The first through hole is fixed to a third wire passing through the first through hole and the second through hole and connected to a third linear actuator, and another insertion hole adjacent in one direction of the insertion hole in which the third wire is fixed And a fourth wire passed through the second through hole and connected to a fourth linear actuator.

In addition, the first wire and the third wire each pass through the first through hole, surround the forearm at a specific angle in a clockwise direction, pass through the second through hole, and pass through the first and third linear actuators. And the second wire and the fourth wire each pass through the first through hole, surround the forearm at a specific angle in a counterclockwise direction, and pass through the second through hole to form a second linear actuator and a fourth wire. It may be characterized in that it is connected to a linear actuator.

And a control unit for controlling to drive a combination of a pair of linear actuators among the first to fourth linear actuators.

In addition, the control unit may be characterized in that it controls to drive three degrees of freedom by driving a combination of six pairs of linear actuators.

In addition, a first contact groove recessed in an ellipsoid shape is formed on one surface of the first reference joint part, and the movement joint part is a first movement joint part capable of rotating in a multiaxial direction with one surface contacting or disengaging from the first contact groove. ; And a second motion joint portion that is in contact with or detaches from a second contact groove recessed in the shape of an ellipsoid on one surface of the first motion joint portion and is rotatable in a multiaxial direction, wherein the first motion joint portion and the second motion It may be characterized in that the insertion hole is formed in each of the joints.

A second object of the present invention is in the method of driving a joint device according to the above-mentioned first object, the first wire and the second wire are pulled and driven by the control unit through the first linear driving unit and the second linear driving unit. Rotating the joint part about a first direction parallel to the planar direction of the first reference joint part with respect to the first reference joint part; And a step in which the third wire and the fourth wire are pulled and driven by the control unit through the third linear driving unit and the fourth linear driving unit, so that the motion joint unit is rotated on the other side about the first direction with respect to the first reference joint unit. It can be achieved as a driving method of a wrist forearm under-drive joint device capable of completely independent driving of each degree of freedom, comprising:

In addition, the control unit pulls the second wire and the third wire through the second linear driving unit and the third linear driving unit, so that the motion joint unit is parallel to the plane direction of the first reference joint unit and is parallel to the first reference joint unit. Rotating one side around a second direction orthogonal to the first direction; And a step in which the first wire and the fourth wire are pulled and driven by the control unit through the first linear driving unit and the fourth linear driving unit, so that the motion joint unit is rotated on the other side about the second direction with respect to the first reference joint unit. It may be characterized by including.

In addition, the control unit pulls the first and third wires through the first and third linear drives, so that the forearm rotates clockwise with respect to the second reference joint, based on the first and second rotation axes. Step of becoming; And the control unit pulls the second wire and the fourth wire through the second linear drive unit and the fourth linear drive unit, so that the forearm is counterclockwise with respect to the second reference joint unit, based on the first rotation axis and the second rotation axis. It may be characterized in that it includes; rotating step.

According to the forearm undercarriage driving joint device capable of completely independent driving of each degree of freedom according to an embodiment of the present invention and a driving method thereof, it is possible to independently drive three degrees of freedom even if six linear actuators are reduced to four.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

The following drawings attached to the present specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical idea of the present invention together with the detailed description of the present invention, so that the present invention is limited to the matters described in such drawings. It is limited and should not be interpreted.
1 is an exploded perspective view of a wrist forearm short-actuated joint device capable of completely independent driving of each degree of freedom according to an embodiment of the present invention.
2A is a perspective view showing a state of a first reference joint part and a motion joint part in a state in which one side rotation is driven about a center in a first direction according to an embodiment of the present invention;
2B is a perspective view showing a state of a first reference joint part and a motion joint part in a state in which the other side rotation is driven about a center in a first direction according to an embodiment of the present invention;
3A is a perspective view showing a state of a first reference joint part and a motion joint part in a state in which one side rotation is driven about a second direction according to an embodiment of the present invention;
3B is a perspective view of a first reference joint part and a motion joint part in a state in which the other side rotation is driven in a second direction center according to an embodiment of the present invention;
4A is a first reference joint portion and a motion joint portion in a state in which the first and third wires are driven for a forearm structure to twist in a clockwise direction based on the first and second rotation axes according to an embodiment of the present invention. Perspective,
4B is a first reference joint portion and a motion joint portion in a state in which the second and fourth wires are driven for a counterclockwise twisting motion of the forearm structure based on the first and second rotation axes according to an embodiment of the present invention. Perspective view,
5 is a perspective view of a forearm structure according to an embodiment of the present invention,
6A is a perspective view of a forearm structure in a state in which the first and third wires are driven for a clockwise twisting motion of the forearm structure based on the first and second rotational axes according to an embodiment of the present invention;
6B is a perspective view of a forearm structure in a state in which the second and fourth wires are driven for a counterclockwise twisting motion of the forearm structure based on the first and second rotational axes according to an embodiment of the present invention. will be.

The above objects, other objects, features, and advantages of the present invention will be easily understood through the following preferred embodiments related to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on the other component or that a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components is exaggerated for effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional views and/or plan views, which are ideal exemplary views of the present invention. In the drawings, thicknesses of films and regions are exaggerated for effective description of technical content. Therefore, the shape of the exemplary diagram may be modified by manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include a change in form generated according to the manufacturing process. For example, the area shown at a right angle may be rounded or may have a shape having a predetermined curvature. Accordingly, regions illustrated in the drawings have properties, and the shapes of regions illustrated in the drawings are for exemplifying a specific shape of the region of the device and are not intended to limit the scope of the invention. In various embodiments of the present specification, terms such as first and second are used to describe various elements, but these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, a number of specific contents have been prepared to explain the invention in more detail and to aid understanding. However, a reader who has knowledge in this field enough to understand the present invention can recognize that it can be used without these various specific contents. In some cases, it is mentioned in advance that parts that are commonly known in describing the invention and are not largely related to the invention are not described in order to prevent confusion without any reason in describing the invention.

Hereinafter, the configuration, function, and driving method of the wrist forearm under-drive joint device 100 capable of completely independent driving of each degree of freedom according to an embodiment of the present invention will be described. First, FIG. 1 is an exploded perspective view of a wrist forearm short-actuated joint device 100 capable of completely independent driving of each degree of freedom according to an embodiment of the present invention.

As shown in FIG. 1, FIG. 1 is a wrist forearm under-drive joint device 100 capable of completely independent driving of each degree of freedom according to an embodiment of the present invention. A first reference joint part 10, a motion joint part 20, It can be seen that it is configured to include the forearm structure 110, the second reference joint part 50, and the like.

A first through hole 12 is formed at each corner of the first reference joint part 10. That is, four first through holes 12 are formed, and a first contact groove is formed in the first reference joint part 10. (11) is formed.

The motion joint part 20 is installed on the upper side of the first reference joint part 10, is installed to be rotatable in a multiaxial direction with respect to the first reference joint part 10, and is configured in a semi-elliptical shape or an ellipsoid shape.

More specifically, a first contact groove recessed in an ellipsoid shape is formed on the upper surface of the first reference joint.

And the motion joint portion, the first motion joint portion 21 that is in contact with or detached from the first contact groove 11 and rotates in a multiaxial direction, and the first motion joint portion 21 is recessed in an ellipsoidal shape on the upper surface of the first contact groove 11. One surface of the second contact groove 22 is in contact or separation, and may include a second motion joint portion capable of rotating in a multiaxial direction.

In addition, a first insertion hole 23 is formed in each of the corners of the first motion joint 21. That is, four first insertion holes 23 are formed. In addition, a second insertion hole 25 is formed in each of the corners of the second motion joint 24.

The forearm structure 110 according to an embodiment of the present invention includes a first forearm part 30 that simulates an ulna part and a second forearm part 40 that simulates a radius part.

The first forearm part 30 has an upper end connected to one side of the lower surface of the first reference joint part 10 and a lower end connected to the second rotation shaft 51 of the second reference joint part 50.

In addition, the second forearm part 40 has a lower end connected to the other side of the top surface of the second reference joint part 50 and an upper end connected to the first rotation shaft 13 of the first reference joint part 10.

Accordingly, the first forearm portion 30 and the second forearm portion 40 are configured to be twisted and rotated in one direction and the other direction based on the first rotation shaft 13 and the second rotation shaft 51. In addition, the extension line of the first rotation shaft 13 is configured to coincide with the direction of the second rotation shaft 51.

2A is a perspective view showing the state of the first reference joint portion 10 and the motion joint portion 20 in a state of being driven to rotate one side about the center in the first direction according to an embodiment of the present invention. And Figure 2b is a perspective view showing the state of the first reference joint portion 10 and the motion joint portion 20 in a state in which the other side rotation is driven about the center in the first direction according to an embodiment of the present invention.

And Figure 3a is a perspective view showing the state of the first reference joint portion 10 and the motion joint portion 20 in a state driven by one side rotation about the second direction center according to an embodiment of the present invention, Figure 3b is the present invention It is a perspective view of the first reference joint portion 10 and the motion joint portion 20 in a state in which the other side rotation is driven about the second direction according to the embodiment of the present invention.

In addition, FIG. 4A shows the first wire 1-1 and the forearm structure 110 for a clockwise twisting motion based on the first rotation shaft 13 and the second rotation shaft 51 according to the embodiment of the present invention. It is a perspective view showing the first reference joint portion 10 and the motion joint portion 20 in a state in which the third wire 1-3 is driven, and FIG. 4B is a first rotation shaft 13 according to an embodiment of the present invention and The first reference joint in a state in which the second wire 1-2 and the fourth wire 1-4 are driven for a counterclockwise twisting motion of the forearm structure 110 based on the second rotation shaft 51 ( 10) and a perspective view of the motion joint portion 20 is shown.

In addition, in the wrist forearm underpowered joint device 100 capable of completely independent driving of each degree of freedom according to an embodiment of the present invention, each end of a plurality of wires (1) is fixed to the second insertion hole (25), each It is configured to pass through the first insertion hole 23, the first through hole 12 and the second through hole 52 to be connected to the linear actuator.

That is, the first wire 1-1 is fixed to one of the four second insertion holes 25 and passes through the first insertion hole 23, the first through hole 12 and the second through hole 52. Is connected to the first linear actuator, and the second wire (1-2) is fixed to another second insertion hole (25) adjacent in one direction of the insertion hole to which the first wire (1-1) is fixed, and the first insertion hole (23), it is passed through the first through hole 12 and the second through hole 52 to be connected to the second linear actuator.

In addition, the third wire 1-3 is fixed to another second insertion hole 25 adjacent in one direction of the second insertion hole 25 to which the second wire 1-2 is fixed, so that the first insertion hole ( 23), passed through the first through hole 12 and the second through hole 52 and connected to the third linear actuator, and the fourth wire 1-4 is a third wire 1-3 to which the third wire 1-3 is fixed. 2 It is fixed to another second insertion hole 25 adjacent in one direction of the insertion hole 25 and passes through the first insertion hole 23, the first through hole 12, and the second through hole 52, It is connected to the linear actuator.

5 is a perspective view showing a forearm structure 110 according to an embodiment of the present invention. And Figure 6a shows the first wire (1-1) and the first wire (1-1) for the forearm structure 110 to twist clockwise based on the first rotation shaft (13) and the second rotation shaft (51) according to an embodiment of the present invention. It shows a perspective view of the forearm structure 110 in a state in which the three-wire (1-3) is driven, and FIG. 6B is based on the first rotation shaft 13 and the second rotation shaft 51 according to the embodiment of the present invention. The forearm structure 110 is a perspective view of the forearm structure 110 in a state in which the second wires 1-2 and the fourth wires 1-4 are driven for a counterclockwise twisting motion.

As shown in FIG. 5, after each of the first wire 1-1 and the third wire 1-3 passes through the first through hole 12, the first forearm 30 at a specific angle in the clockwise direction. ) And the second forearm 40, passes through the second through hole 52, and is connected to the first linear actuator and the third linear actuator.

In addition, the second wire (1-2) and the fourth wire (1-4), after each passing through the first through hole (12), in a counterclockwise direction, the first forearm 30 and the second forearm It surrounds 40, passes through the second through hole 52, and is connected to the second linear actuator and the fourth linear actuator.

In addition, the control unit controls to drive a combination of a pair of linear actuators among the first to fourth linear actuators. That is, the control unit controls to drive three degrees of freedom by driving a combination of six pairs of linear actuators.

More specifically, as shown in Fig. 2A, the first wire 1-1 and the second wire 1-2 are pulled and driven by the control unit through the first linear driving unit and the second linear driving unit, so that the motion joint unit ( 20) is rotated on one side about the first reference joint portion 10 in a first direction parallel to the planar direction of the first reference joint portion 10.

In addition, as shown in Figure 2b, the control unit is driven by pulling the third wire (1-3) and the fourth wire (1-4) through the third linear drive unit and the fourth linear drive unit, the motion joint part 20 ) Is rotated on the other side about the first direction with respect to the first reference joint part 10.

And, as shown in Figure 3a, the control unit through the second linear driving unit and the third linear driving unit, the second wire (1-2) and the third wire (1-3) is pulled and driven, the motion joint part 20 With respect to the first reference joint portion 10, the first reference joint portion 10 is rotated one side about a second direction parallel to the plane direction and orthogonal to the first direction.

In addition, as shown in FIG. 3B, the first wire 1-1 and the fourth wire 1-4 are pulled and driven by the control unit through the first linear driving unit and the fourth linear driving unit, so that the motion joint unit 20 ) Is rotated on the other side about the second direction with respect to the first reference joint part 10.

And when the control unit pulls the first wire (1-1) and the third wire (1-3) through the first linear driving unit and the third linear driving unit, as shown in Fig. 4A, the motion joint unit 20 Is not rotated, and as shown in FIG. 6A, the first forearm 30 and the second forearm 40 are with respect to the second reference joint part 50, the first rotational shaft 13 and the second rotational shaft 51 It can be seen that it is rotated clockwise based on.

And when the control unit pulls the second wire (1-2) and the fourth wire (1-4) through the second linear driving unit and the fourth linear driving unit, as shown in FIG. 4B, the motion joint part 20 Is not rotated, and as shown in FIG. 6B, the first forearm 30 and the second forearm 40 are with respect to the second reference joint part 50, the first rotational shaft 13 and the second rotational shaft 51 It is rotated counterclockwise based on.

Therefore, according to the forearm undercarriage driving joint device 100 capable of completely independent driving of each degree of freedom according to an embodiment of the present invention and its driving method, even if the conventional six linear actuators are reduced to four, independent driving of three degrees of freedom is possible. It will have the possible effect.

In addition, the above-described apparatus and method are not limitedly applicable to the configuration and method of the above-described embodiments, but all or part of each of the embodiments may be selectively combined so that various modifications can be made to the above embodiments. It can also be configured.

1: wire
1-1: the first wire
1-2: the second wire
1-3: 3rd wire
1-4: 4th wire
10: first reference joint
11: first contact groove
12: first through hole
13: 1st rotation shaft
20: motion joint
21: first motion joint
22: second contact groove
23: first insertion hole
24: second motion joint
25: second insertion hole
30: first forearm
40: second forearm
50: second reference joint
51: second rotation shaft
52: second through hole
100: Forearm short-actuated joint device capable of completely independent driving of each degree of freedom
110: forearm structure

Claims (13)

In a multi-degree of freedom joint device that implements a joint part to be applicable to a robot,
First reference joint;
A motion joint portion installed on one side of the first reference joint portion, installed to be rotatable in a multiaxial direction with respect to the first reference joint portion, and having a semi-elliptic or elliptical shape; And
A forearm structure including a plurality of forearm portions having one end connected to the other side of the first reference joint part, and a second reference joint part connected to the other end of the plurality of forearm parts, and being twisted and rotated based on the second reference joint part; A wrist forearm lack drive joint device capable of completely independent driving of each degree of freedom, comprising: a.
The method of claim 1,
The forearm structure,
The upper end is connected to one side of the lower end of the first reference joint, the lower end is connected to the second rotation axis of the second reference joint, and the lower end is connected to the other side of the upper end of the second reference joint, and the upper end Including a second forearm connected to the first rotation shaft of the first reference joint part, the first forearm part and the second forearm part to rotate in one direction and the other direction based on the first rotation axis and the second rotation axis. A wrist forearm lack drive joint device capable of completely independent driving of each degree of freedom, characterized in that it is configured.
The method of claim 2,
An extension line of the first rotation axis coincides with a direction of the second rotation axis, wherein the forearm undercarriage driving joint device capable of completely independent driving of each degree of freedom.
The method of claim 2,
Four first through holes formed at each corner of the first reference joint, four insertion holes formed at each of the corners of the motion joint, and four second holes formed at each of the corners of the second reference joint. Wrist forearm lack drive joint device capable of completely independent driving of each degree of freedom, characterized in that it comprises a through hole.
The method of claim 4,
Each end is fixed to the insertion hole, each of which is passed through the insertion hole, the first through hole and the second through hole, and a plurality of wires connected to the linear actuator; completely independent driving of each degree of freedom, comprising: This is possible wrist forearm lack drive joint device.
The method of claim 5,
A first wire fixed in one of the four insertion holes and passed through the first through hole and the second through hole to be connected to the first linear actuator, and another insertion close to one direction of the insertion hole in which the first wire is fixed A second wire fixed to the hole and passed through the first through hole and the second through hole to be connected to the second linear actuator, and the second wire is fixed to another insertion hole adjacent in one direction of the fixed insertion hole. A third wire passed through the first through hole and the second through hole and connected to the third linear actuator, and the third wire is fixed to another insertion hole adjacent in one direction of the fixed insertion hole, and the first through hole and And a fourth wire that is passed through the second through hole and is connected to a fourth linear actuator.
The method of claim 6,
The first wire and the third wire each pass through the first through hole, surround the forearm at a specific angle in a clockwise direction, pass through the second through hole, and connect to the first linear actuator and the third linear actuator. Become,
The second wire and the fourth wire each pass through the first through hole, surround the forearm at a specific angle in a counterclockwise direction, pass through the second through hole, and pass through the second and fourth linear actuators. A wrist forearm lack drive joint device capable of completely independent driving of each degree of freedom, characterized in that it is connected.
The method of claim 7,
A control unit for controlling to drive a combination of a pair of linear actuators among the first linear actuators to the fourth linear actuators; a wrist underarm driving joint device capable of completely independent driving of each degree of freedom.
The method of claim 8,
The control unit drives a combination of six pairs of linear actuators, thereby controlling to drive three degrees of freedom of rotation.
The method of claim 1,
A first contact groove recessed in an ellipsoid shape is formed on one surface of the first reference joint part,
The motion joint part,
A first motion joint portion having one surface in contact with or detaching from the first contact groove and capable of rotating in a multiaxial direction; And a second motion joint portion that is in contact with or detaches from a second contact groove recessed in the shape of an ellipsoid on one surface of the first motion joint portion and is rotatable in a multiaxial direction, wherein the first motion joint portion and the second motion An insertion hole is formed in each of the joints, the forearm under-drive joint device capable of completely independent driving of each degree of freedom.
In the method of driving a joint device according to claim 8 or 9,
The control unit is driven by pulling the first wire and the second wire through the first linear drive unit and the second linear drive unit, so that the motion joint unit is in a first direction parallel to the planar direction of the first reference joint unit, with respect to the first reference joint unit. Rotating one side around the; And
A step in which the third and fourth wires are pulled and driven by the control unit through the third and fourth linear driving units, so that the motion joint unit rotates the other side around the first direction with respect to the first reference joint unit. A driving method of a wrist forearm short-actuated joint device capable of completely independent driving of each degree of freedom, characterized in that.
The method of claim 11,
The control unit pulls the second wire and the third wire through the second linear drive unit and the third linear drive unit, so that the motion joint unit is parallel to the first reference joint unit in a plane direction and is parallel to the first reference joint unit. Rotating one side around a second direction orthogonal to the direction; And
A step in which the first wire and the fourth wire are pulled and driven by the control unit through the first linear driving unit and the fourth linear driving unit, so that the motion joint unit is rotated on the other side about the second direction with respect to the first reference joint unit. A driving method of a wrist forearm short-actuated joint device capable of completely independent driving of each degree of freedom, characterized in that.
The method of claim 12,
The control unit is driven by pulling the first wire and the third wire through the first and third linear driving units, so that the forearm rotates clockwise with respect to the second reference joint part with respect to the first rotation axis and the second rotation axis. step; And
The control unit is driven by pulling the second and fourth wires through the second linear driving unit and the fourth linear driving unit, so that the forearm rotates counterclockwise with respect to the second reference joint unit with respect to the first rotation axis and the second rotation axis. The driving method of the wrist forearm under-drive joint device capable of completely independent driving of each degree of freedom, comprising:

Images