| Patent application number | Description | Published |
|---|
| 20090095109 | STRUCTURE, MANIPULATOR AND STRUCTURE CONTROL SYSTEM - A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force. | 04-16-2009 |
| 20090312868 | MANIPULATOR AND MANIPULATOR POSTURE CONTROL METHOD - It is aimed to provide a manipulator capable of reducing a colliding force exerted to an obstacle even in the case where the manipulator collides without being able to avoid a collision with the obstacle. | 12-17-2009 |
| 20090312870 | MANIPULATOR, MANIPULATOR COLLISION DETECTING METHOD AND MANIPULATOR CONTROL METHOD - A manipulator is provided with a first link, a second link, first and second differential input shafts rotatably supported on the first link, a differential output shaft rotatably supported on the second link, a differential gear mechanism for rotating the differential output shaft about two axes orthogonal to each other in accordance with the sum or difference of rotating speeds of the first and second differential input shafts, a first transmitting portion for transmitting a driving force to the first differential input shaft, a second transmitting portion for transmitting a driving force to the second differential input shaft, a first shaft rotational angle sensor for detecting rotational angle information of the first differential input shaft, a second shaft rotational angle sensor for detecting rotational angle information of the second differential input shaft, and a controller for detecting the reception of an external force by the first or second link based on an output signal of the first or second shaft rotational angle sensor. Each of the first and second transmitting portions includes a rotatable worm elastically held at a specified position in such a manner as to be movable in a translation direction of a rotation axis and a worm wheel engaged with the worm. The worm makes a translational movement in accordance with the external force received by the first or second link. | 12-17-2009 |
| 20100005918 | JOINT MECHANISM AND JOINT DEVICE - The joint mechanism includes a first link, a second link, a third link, a shaft supported on the second link to be rotatable about an axis thereof, and movable in an axis direction thereof, a first worm and a second worm mounted on the shaft, a first worm wheel in mesh with the first worm to pivotally move the first link with respect to the second link, and a second worm wheel in mesh with the second worm to pivotally move the third link with respect to the second link. The first link and the third link are pivotally moved in opposite directions to each other by rotating the shaft, and pivotally moved in identical directions to each other by moving the shaft in the axis direction. | 01-14-2010 |
| 20100176615 | MULTI-FINGERED ROBOT HAND - A multi-fingered robot hand having a minimum required number of joints in finger mechanisms and capable of stably grasping a variety of articles. The multi-fingered robot hand includes: a first palm portion ( | 07-15-2010 |
| 20100318224 | MANIPULATOR AND METHOD OF CONTROLLING THE SAME - A manipulator is provided with an arm, an arm, a holding section, a first joint section pivotally interconnecting the arm and the arm, a second joint section pivotally interconnecting the arm and the holding section, a first joint driving section capable of driving the first joint section, a second joint driving section capable of driving the second joint section, a member specifying section for specifying one of the arms which has a possibility of collision with an obstacle or which has collided with the obstacle, and a control device for controlling the first joint driving section and the second joint driving section to pivotally move the one of the arms specified by the member specifying section in a direction away from the obstacle, and pivotally move the other of the arms in a direction toward the obstacle. | 12-16-2010 |
