This technology is a mechanism that controls the joint movement of a robot leg using multiple tension members (such as wires or cables) to apply tensile force. By arranging multiple hip joints and tension connection structures around a joint actuator composed of an acetabulum and a femoral head, the force from a remote actuator is transmitted to the thigh via tension members, enabling 3-DOF movement (rotation, abduction/adduction, and flexion/extension) of the leg.
Conventional leg drive methods require complex frame structures and heavy motors to be mounted directly on the joints, which increases the overall weight of the robot, results in poor shock absorption due to the heavy joints, generates noise, and incurs high manufacturing costs.
This technology places the drive motors at a distance from the joint actuator and connects multiple tension members—which pass through channels formed in the acetabulum and the branches of the hip joints—to the thigh, enabling multi-axis movement of the thigh through tension control. This eliminates the need for high-output/large motors directly at the joints, allowing for a lightweight design, while the tension members provide shock absorption. Applicable to walking robots, disaster response robots, and mobile platforms, it reduces the number of joint motors to achieve a lighter weight, improved shock absorption, and lower manufacturing costs.
This invention was developed with support from the Ministry of Science and ICT for a tensegrity robot system using pneumatic and tendon hybrid actuation.
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