駆動リンクと滑り対偶を用いた差動機構による2自由度関節の設計

抄録

To achieve the high output performance and light weight required for the joints of a walking robot, we proposed a two-input/two-output differential mechanism with driving links. As in the parallel link mechanism, the differential mechanism requires a ball joint with a wide range of motion and parts with complex shapes for the passive joints of the links, which makes the mechanism design difficult. Therefore, we introduced a slider and a knuckle joint instead of a ball joint to realize an equivalent 3-DOF passive joint and simplify the mechanism design. Then, as an application of the proposed differential mechanism, we designed a 2-DOF joint mechanism for the body mechanism of a walking robot using this mechanism and conducted motion tests using an experimental model. We confirmed that the designed mechanism can rotate 90 degrees around the pitch axis and 82 degrees around the yaw axis.