JOINT MECHANISM FOR HUMANOID ROBOT
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United States of America Patent
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app pub date -
Mar 19, 2015
filing date -
Apr 3, 2014
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Abstract
A joint mechanism includes: a first member; a second member; and a gear device that is provided between the first member and the second member and changes the number of revolutions at a predetermined ratio to transmit a drive force. The gear device includes a crank shaft on which a first eccentric portion is formed, a first oscillating gear that has first external teeth and an insertion hole into which the first eccentric portion is inserted, a carrier that retains the crank shaft rotatably, and an external cylinder that has an internal-tooth pin 3. The carrier and the external cylinder are configured to be displaced coaxially and relatively to each other due to oscillation of the first oscillating gear.
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