Driving mechanism, robot apparatus measurement method, robot apparatus control method and component manufacturing method
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United States of America Patent
Stats
-
Nov 7, 2023
Grant Date -
Oct 29, 2020
app pub date -
Jul 13, 2020
filing date -
Oct 27, 2015
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.
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