A joint structure for a robot includes a first link and a second link, rotatably coupled to each other through a joint part. The joint part has a first rotary member so that an axial center thereof is oriented in a first direction and connected to the first link, and a pair of the second rotary members so that axial centers thereof are oriented in a second direction. A first linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the second rotary member. A second linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the second rotary member. The first rotary member is pivoted relatively to the second rotary members by pivoting the second rotary members.

A joint structure for a robot includes a first link and a second link, rotatably coupled to each other through a joint part. The joint part has a first rotary member so that an axial center thereof is oriented in a first direction and connected to the first link, and a pair of the second rotary members so that axial centers thereof are oriented in a second direction. A first linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the second rotary member. A second linear-motion actuator is connected at a base-end part thereof to the second link and connected at a tip-end part thereof to the second rotary member. The first rotary member is pivoted relatively to the second rotary members by pivoting the second rotary members.

A robot arm including a rotating body connected to a base, an arm rotating about a central axis of the rotating body, a moving pulley provided at the arm and revolving along a circular track which is concentric with the rotating body, a reference pulley provided at the base and positioned on an inner side with respect to the circular track, a spring embedded in the arm and compressed or stretched in a lengthwise direction of the arm, a string compressing the spring and wound around the moving pulley and the reference pulley, and a plurality of roller bearings arranged to be spaced apart from each other along an outer circumference of the rotating body, rotating about a rotation axis parallel to the central axis of the rotating body, and configured to be in contact with the string is provided.

A housing of a joint of a collaborative robot, where at least part of the material of the housing is configured to include a plurality of lattice structure units. Since the at least part of the material of the housing is configured to include the plurality of lattice structure units, the weight of the joint may be reduced with respect to a completely solid housing. Further disclosed is the joint of the collaborative robot.

A housing of a joint of a collaborative robot, where at least part of the material of the housing is configured to include a plurality of lattice structure units. Since the at least part of the material of the housing is configured to include the plurality of lattice structure units, the weight of the joint may be reduced with respect to a completely solid housing. Further disclosed is the joint of the collaborative robot.

A robot joint 1 has two adjacent outer cylinders 3 and 5 and an inner cylinder 7 which extends inside the two outer cylinders and is provided with openings 9 in the cylinder wall. The inner cylinder 7 is connected via leaf springs 11, 13 to the two outer cylinders. The robot joint is provided with measuring means comprising markings 15 which are formed by holes 15 in the cylinder wall of one of the outer cylinders 3, as well as detection means 17, 19 for counting the number of markings that passes the detection means during rotation of the two outermost cylinders 3, 5 relative to each other, which detection means are connected to the other outer cylinder 5. By measuring the rotation of the outer cylinders relative to each other and linking it back to the robot arm drive, the consequences of the inaccuracies in the joint can be compensated.

A motorized joint unit comprises a pair of shells defining an inner cavity, the pair of shells adapted to be connected to adjacent links of an articulated mechanism. A rotor and stator in the inner cavity are actuatable to cause a relative rotation therebetween. A shaft connected to the rotor to rotate with the rotor relative to the stator. A support coupled to the shaft by a mechanism, the support being connected to one of the shells to impart a rotation of the shaft to the shell, the support defining an annular wall. One or more strain gauges are located on said annular wall of the support. A printed circuit board (PCB) is applied against the annular wall and electrically connected to the at least one strain gauge, the PCB adapted to be electrically linked to a controller.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

Disclosed is a biped robot and multi-configuration robot capable of being spliced autonomously, and a control method of the multi-configuration robot. The biped robot comprises a torso, arms, legs, a tolerance docking sleeve, and a torso docking device. The arms are correspondingly arranged at the left and right sides of the torso, and two legs are arranged at the lower side of the torso. The tolerance docking sleeve is movably arranged at the rear side of the torso through a base, and the torso docking device is fixed to the front side of the torso. Single biped robots in the present disclosure can form a multi-configuration legged combined body in a self-organization and reconstruction mode so as to achieve bipedal, quadrupedal, hexapodal and other multi-legged configurations. The motion stability and the load capacity of the legged robot are improved through the splicing combination of the modular legged robots.