Articulated joint

Details Articulated joint Articulated joint

B - Operations, Transporting

25

J

B25J 17/00 (2006.01)

Patent

CA 2609437

The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs.

La présente invention concerne un joint articulé utilisable par exemple dans la robotique et la réadaptation, consistant en un premier corps et un deuxième corps, connectés l~un à l~autre de façon rotative, et comprenant un troisième corps, également rotatif autour d~un axe de rotation, où le troisième corps agit comme un bras de levier. Ce bras de levier est connecté par un ressort à un mécanisme de pré-tension, lequel peut être monté sur le deuxième corps, tandis que la rotation du bras de levier par rapport au premier corps est commandée au moyen d~un actionneur. Cette construction mène à un joint où la position peut être commandée indépendamment de la compliance du joint, procurant de ce fait un mécanisme avec des caractéristiques améliorées par rapport aux conceptions existantes.

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