The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 01, 2009
Filed:
Oct. 17, 2003
Zenta Sugawara, Wako, JP;
Hiroshi Matsuda, Wako, JP;
Zenta Sugawara, Wako, JP;
Hiroshi Matsuda, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
In a robot of an elbow joint of a humanoid robot, a first main link and a second main link are connected through a first movable link and a second movable link, and the two movable links are arranged to cross. Specifically, in a quadrangle whose apices are formed by rotation axes A, B, C and D, when assuming that rotation axes diagonally opposed to each other are A and C, and B and D, the rotation axes A and C are connected through the first movable link and the rotation axes B and D are connected through the second movable link in such a manner that the first and second movable links are disposed to cross, and that the rotation axis A is driven by the actuator to drive the first movable link, such that the first and second main links are displaced relative to each other. In addition, the first movable link is rotatably connected to a first plate and a second plate through the rotation axis A, while the second movable link is rotatably connected to the first plate through the rotation axis B. With this, it becomes possible to increase the overall driven angle of the joint relative to the input, expand the range of motion of the joint in the bending direction, and also raise the critical value of the driven speed (i.e., rotational speed).