Method of driving joint device
US8733207B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 23, 2011 |
| Grant date | May 27, 2014 |
| Priority date | — |
| Expiry date | Jul 11, 2031 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20317
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Provided is a method of driving a joint device suitably used for a robot joint with improved back drivability. A first motor and a second motor are fixedly connected to a first link. An output shaft of the first motor is coupled to an internal gear of a differential speed reducer. An output shaft of the second motor is coupled to an external gear of the differential speed reducer. A second link is coupled to the internal gear of the differential speed reducer. When the first link and the second link are relatively stopped to keep a joint angle fixed, both of the first motor and the second motor are rotated with a rotational speed larger than zero, and the rotational speed of the first motor and that of the second motor are differentiated to stop the second link.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.