JPS601456A - One point-centered three-degree of freedom drive mechanism - Google Patents
One point-centered three-degree of freedom drive mechanismInfo
- Publication number
- JPS601456A JPS601456A JP10977283A JP10977283A JPS601456A JP S601456 A JPS601456 A JP S601456A JP 10977283 A JP10977283 A JP 10977283A JP 10977283 A JP10977283 A JP 10977283A JP S601456 A JPS601456 A JP S601456A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- drive mechanism
- degree
- frame
- point
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Transmission Devices (AREA)
- Prostheses (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、義手の肩関節、義足の股関節及びそれらと同
様の動きを必要とするロボットの関節等に使用する一点
中心型３自由瓜駆動機構に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a one-point centered three-free melon drive mechanism used for the shoulder joint of a prosthetic hand, the hip joint of a prosthetic leg, and the joints of robots that require similar movements.
人の肩関箒や股関節はポールジヨイントのように一点を
中心として３自由度の運動を行う部位であり、（のよう
な部位に使用する人工関節にもアクチュエータによって
一点を中心とする３自由度の動きをさせることが望まれ
る。しかしながら、ボールジヨイントと同様の３自由度
をもつ駆動機構を、構成することは困難であり、そのた
め従来はそれにいくらかでも近似させるためｌ自由度駆
動機構を直列に３個取り付けたり、あるいは２自由度駆
動機構に１自由度駆動機構を取り（＝Ｉけたすしていた
が、これらは三つの回転軸か−・点に交わるいわゆる一
点中心型のものではなく、従っていずれもボールジヨイ
ントと同様の動き与えることかできず、しかもその動き
を制御するためのアルゴリズムが複雑化するという問題
がある。Human shoulder joints and hip joints are parts that move with three degrees of freedom around one point, like pole joints, and artificial joints used for parts such as () also have actuators that move three degrees of freedom around one point. However, it is difficult to construct a drive mechanism with 3 degrees of freedom similar to a ball joint, so conventionally, in order to approximate this to some extent, a drive mechanism with 1 degree of freedom has been constructed. By installing three in series, or by adding a one-degree-of-freedom drive mechanism to a two-degree-of-freedom drive mechanism (=I digits), these are not so-called single-point-centered types in which three rotating axes intersect at a point. Therefore, there is a problem in that neither of them can provide the same movement as a ball joint, and the algorithm for controlling the movement becomes complicated.
叙１−に鑑み、本発明は、ポールジヨイントと同様に−
・点を中心とする３自由度の運動を行わせることのでき
る駆動機構を、簡単な構成のものとして提供しようとす
るものである。In view of the description 1-, the present invention provides a pole joint as well as a pole joint.
- The aim is to provide a drive mechanism with a simple configuration that can perform movement in three degrees of freedom around a point.
」−記１」的を達成するため、本発明の３自由度駆動機
構は、３自由度駆動機構を取付ける本体に対して第１の
軸のまわりにアクチュエータで回転駆動せしめられる第
１の枠体を備えた第１の１自由１隻駆動機構と、上記第
１の枠体に対して第１の軸と偵交する第２の軸によって
回転可能に支持された第２の枠体な備え、第２の枠体が
第２の軸のまわりにアクチュエータで回転駆動せしめら
れる第２の１自由度駆動機構と、上記第２の枠体に対し
て第１及び第２の軸と一点で直交する第３の軸のまわり
にアクチュエータで回転駆動せしめられる第３の１自由
度駆動機構とによって構成したことを特徴とするもので
ある。In order to achieve the objective ``-Note 1'', the 3 degrees of freedom drive mechanism of the present invention includes a first frame body that is rotatably driven by an actuator around a first axis relative to the main body on which the 3 degrees of freedom drive mechanism is attached. and a second frame rotatably supported by a second shaft that intersects with the first shaft with respect to the first frame; a second one-degree-of-freedom drive mechanism in which a second frame is rotationally driven around a second axis by an actuator; The present invention is characterized by comprising a third one-degree-of-freedom drive mechanism that is rotationally driven by an actuator around a third axis.
以下に本発明の実施例を図面を参照して詳述する。Embodiments of the present invention will be described in detail below with reference to the drawings.
第１図に示す３自由度駆動機構は、被駆動体１に中心０
のまわりの３自由度をもたせたもの、即ち、この３自由
度駆動機構を増刊ける本体に対して、中心０を交点とし
て３次元的に直交するＸ輛、ｙ軸及びｚｉｈＩｌのまわ
りに被駆動体１を回転させ得るものとして構成している
。The three-degree-of-freedom drive mechanism shown in FIG.
In other words, for the main body that has this three-degree-of-freedom drive mechanism, there is a The body 1 is configured to be able to rotate.
被駆動体１のＸ軸のまわりの回転は、第１の枠体２をロ
ボット等の本体に対してｘ ４ｉ１＋のまゎりに回転せ
しめる第１の１自由度駆動機構により行われ、そのため
、この３自由度駆動機構を増刊ける本体（図示せず）に
対して第１の輔３を回転目イ１に支持させ、上記本体」
二に設けたアクチュエータで回転駆動せしめられるウオ
ーム（図示せず）を第１の佃＋３Ｊ−に設けたウオーム
ホイール４に噛合させ、上記軸３上に第１の枠体２を固
定している。The rotation of the driven body 1 around the X-axis is performed by a first one-degree-of-freedom drive mechanism that rotates the first frame body 2 around x4i1+ with respect to the main body of the robot, etc. The first support 3 is supported by the rotating eye 1 for a main body (not shown) which is equipped with a three-degree-of-freedom drive mechanism, and the above-mentioned main body is
A worm (not shown) rotatably driven by an actuator provided on the second side is engaged with a worm wheel 4 provided on the first holder +3J-, and the first frame 2 is fixed on the shaft 3.
上記第１の枠体２上に設けられる第２の１１＝Ｊ ＦＩ
Ｊ度駆動駆動機構上記第１の枠体２に対して第１の１１
１＋ ３と直交する第２の軸５によって回転可能に支持
された第２の枠体６を備え、この第２の枠体６を第２の
輔５のまわりに回転駆動するため、第１の枠体２ 、ｌ
二に設けたアクチュエータで回転駆動せしめられるウオ
ーム（図示せず）を第２の軸５上に設けたウオームホイ
ール７に噛合させている。Second 11 provided on the first frame 2 = J FI
J degree drive drive mechanism The first 11 with respect to the first frame 2
A second frame 6 is rotatably supported by a second shaft 5 perpendicular to 1+3. Frame body 2, l
A worm (not shown) rotatably driven by an actuator provided on the second shaft 5 is meshed with a worm wheel 7 provided on the second shaft 5.
１−記第２の枠体６上に設けられる第３の１自由度駆動
機構は、に記第２の枠体６に対して第１及び第２の軸３
，５と一点で直交する第３の軸８を、備え、この第３の
軸８上に設けた被駆動体１をその軸８のまわりに回転駆
動するため、第２の枠体６１−に設けたアクチョーエー
タで回転駆動せしめられるウォート（図示せず）を第３
の軛１８上に設けたウオームホイール８に噛合させてい
る。1- The third one-degree-of-freedom drive mechanism provided on the second frame 6 is configured to rotate the first and second shafts 3 with respect to the second frame 6.
, 5 at one point, and in order to rotate the driven body 1 provided on the third axis 8 around the axis 8, A third worm (not shown) is rotated by an actuator provided.
The worm wheel 8 is engaged with the worm wheel 8 provided on the yoke 18.
１−記構成を右する３自由度駆動機構を、例えばロホン
トの〃１関節として使用する場合には、ロポン）・本体
に第１の軸３を回転可能に支持させると共にロボットの
腕を被駆動体１として取イ・］ければよく、この状態で
三つのアクチュエータによるウオームホイール４，７．
９の回転方向及び回転速度等を適宜制御装置によって制
御すれば、それらのアクチュエータによる回転で第１．
第２の枠体２゜６及び被駆動体１が各軸３，５．８のま
わりに回転し、ロボットの腕はロボット本体に対し−１
−記中心Ｏのまわりに３自由度をもって回転することに
なる。1- When using the three-degree-of-freedom drive mechanism having the configuration described above as one joint of Rohonto, for example, the first shaft 3 is rotatably supported on the main body, and the arm of the robot is driven. In this state, the worm wheels 4, 7, . . . are operated by three actuators.
If the rotation direction, rotation speed, etc. of 9 are appropriately controlled by a control device, the rotation by these actuators will cause the first .
The second frame body 2°6 and the driven body 1 rotate around the respective axes 3 and 5.8, and the arm of the robot is at -1
- It will rotate around the center O with three degrees of freedom.
なお、」−記各軸３，５．８を回転させる駆動機構とし
ては、ウオームとウオームホイールに代わる任意の機構
、例えばその他の各種歯車装置、巻掛は伝動装置あるい
は摩擦伝動装置等を用いることかできる。Furthermore, as the drive mechanism for rotating each shaft 3, 5.8, any mechanism may be used in place of the worm and worm wheel, such as various other gear devices, a transmission device or a friction transmission device, etc. for winding. I can do it.
また、図示した３自由度駆動機構は、その第３の軸８を
ロボット本体等に増刊け、ｉｌの輔３に被駆動体１を取
付けて使用することもできる。The illustrated three-degree-of-freedom drive mechanism can also be used by attaching the third axis 8 to the robot body or the like and attaching the driven body 1 to the support 3 of the robot.
このように本発明によれば、被駆動体に一点において３
次元的に直交する３軸のまわりの回転を行わせることが
できるので、その動きを制御するだめのアルゴリズムを
簡単なものとすることができ、人工的な関節等に極めて
有効に利用することができる。As described above, according to the present invention, three
Since rotation can be performed around three dimensionally orthogonal axes, the algorithm for controlling the movement can be simplified, making it extremely effective for use in artificial joints, etc. can.
第１図は本発明の実施例の斜視図である。 １・φ被駆動体、２・・第１の枠体、 ３・・第１の軸、５・・第２の軸、 ６・・第２の枠体、 ８・・第３の軸。 FIG. 1 is a perspective view of an embodiment of the invention. 1.φ driven body, 2.. first frame, 3...first axis, 5...second axis, 6. Second frame, 8. Third axis.
Claims (1)
のまわりにアクチュエータで回転駆動せしめられる第１
の枠体を備えた第１の１自由度駆動機構と、上記第１の
枠体に対して第１の軸と直交する第２の軸によって回転
可能に支持された第２の枠体を備え、第２の枠体が第２
の軸のまわりにアクチュエータで回転駆動せしめられる
第２の１自由度駆動機構と、上記第２の枠体に対して第
１及び第２の軸と一点で直交する第３の軸のまわりにア
クチュエータで回転駆動せしめられる第３の１自由度駆
動機構とによって構成したことを特徴とする。＝一点中
心型３自由度駆動機構。1. A first motor that is rotatably driven by an actuator around a first axis relative to the main body on which the three-degree-of-freedom drive mechanism is attached.
and a second frame rotatably supported by a second axis perpendicular to the first axis with respect to the first frame. , the second frame is the second
a second one-degree-of-freedom drive mechanism rotated by an actuator around an axis; and a third axis perpendicular to the first and second axes at one point with respect to the second frame. and a third one-degree-of-freedom drive mechanism that is rotationally driven. = Single-point centered 3-degree-of-freedom drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10977283A JPS601456A (en) | 1983-06-17 | 1983-06-17 | One point-centered three-degree of freedom drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10977283A JPS601456A (en) | 1983-06-17 | 1983-06-17 | One point-centered three-degree of freedom drive mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS601456A true JPS601456A (en) | 1985-01-07 |
| JPH0461225B2 JPH0461225B2 (en) | 1992-09-30 |
Family
ID=14518831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10977283A Granted JPS601456A (en) | 1983-06-17 | 1983-06-17 | One point-centered three-degree of freedom drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS601456A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03196980A (en) * | 1989-12-22 | 1991-08-28 | Hitachi Ltd | Articulated 6 degree-of-freedom robot mechanism, and assembling and working unit with that mechanism |
| JP2009154261A (en) * | 2007-12-27 | 2009-07-16 | Nachi Fujikoshi Corp | Industrial robot |
| KR100987235B1 (en) | 2008-05-09 | 2010-10-12 | 충주대학교 산학협력단 | Omnidirectional driving robot |
| CN114872081A (en) * | 2016-08-30 | 2022-08-09 | 内布拉斯加大学董事会 | Robotic devices with compact joint design and additional degrees of freedom and related systems and methods |
-
1983
- 1983-06-17 JP JP10977283A patent/JPS601456A/en active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03196980A (en) * | 1989-12-22 | 1991-08-28 | Hitachi Ltd | Articulated 6 degree-of-freedom robot mechanism, and assembling and working unit with that mechanism |
| JP2009154261A (en) * | 2007-12-27 | 2009-07-16 | Nachi Fujikoshi Corp | Industrial robot |
| KR100987235B1 (en) | 2008-05-09 | 2010-10-12 | 충주대학교 산학협력단 | Omnidirectional driving robot |
| CN114872081A (en) * | 2016-08-30 | 2022-08-09 | 内布拉斯加大学董事会 | Robotic devices with compact joint design and additional degrees of freedom and related systems and methods |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0461225B2 (en) | 1992-09-30 |
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