TWO-DEGREE-OF-FREEDOM ROTATION MECHANISM USING PARALLEL SPRINGS

Title:

TWO-DEGREE-OF-FREEDOM ROTATION MECHANISM USING PARALLEL SPRINGS

Document Type and Number:

WIPO Patent Application WO/2017/213106

Kind Code:

A1

Abstract:

A manipulator (100) provided with: a main unit body provided with a grip part; a first link (25) supported by the main unit body so as to be capable of advancing/retracting in the longitudinal direction; a first plate spring (27) connected to the distal end of the first link (25) as a revolute pair by a first base end pin (47); a second link (29) supported by the main unit body so as to be parallel to the first link (25) and so as to be capable of advancing/retracting in the longitudinal direction; a second plate spring (31) connected to the distal end of the second link (29) as a revolute pair by a second base end pin (49) oriented in the same direction as the first base end pin (47); and a rotating disc (63) to which the distal end of the first plate spring (27) is connected as a revolute pair by a first distal end pin (65) oriented in the same direction as the first base end pin (47), and to which the distal end of the second plate spring (31) is connected as a revolute pair by a second distal end pin (67) oriented in the same direction as the second base end pin (49).

Inventors:

ARATA JUNPEI (JP)
HASHIZUME MAKOTO (JP)

Application Number:

PCT/JP2017/020881

Publication Date:

December 14, 2017

Filing Date:

June 05, 2017

Export Citation:

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Assignee:

UNIV KYUSHU NAT UNIV CORP (JP)

International Classes:

B25J17/02; A61B8/00; A61H1/02; B25J11/00; F16H21/16

Domestic Patent References:

WO2010117051A1	2010-10-14
WO2007043308A1	2007-04-19
WO1999021478A1	1999-05-06

Foreign References:

JP2005169011A	2005-06-30
JP2013035120A	2013-02-21
JP2014161477A	2014-09-08

Other References: