CPC B25J 17/00 (2013.01) [B25J 5/00 (2013.01); B25J 9/0006 (2013.01); B25J 9/1641 (2013.01); B25J 19/02 (2013.01)] | 12 Claims |
1. A joint structure for a robot, the joint structure comprising:
a joint portion including a first part coupled to a main body side link and a second part coupled to a distal side link;
a driving force transmitting mechanism configured to transmit, to the joint portion, a rotational driving force causing relative rotation of the second part with respect to the first part and rotation of the distal side link relative to the main body side link; and
a biasing mechanism operating to apply a rotational biasing force coaxial with the relative rotation to the second part, wherein:
the rotational biasing force counters gravity acting on the distal side link when the distal side link constitutes a cantilever having the joint portion as a fulcrum,
the joint portion comprises a rotational joint formed from at least one of a pitch joint enabling pitch rotation, a roll joint enabling roll rotation, and a yaw joint enabling yaw rotation, wherein at least one of pitch, roll, and yaw rotational axes are defined with reference to the robot standing in an upright posture, and
a control device for the robot refers to detected values of at least one of a distance measuring sensor, an inertial measurement unit (IMU), grounding confirming sensors, a load sensor, and a power control device.
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