Robotic Arm

Exoskeleton Robotic Arm with Shoulder-Mounted Actuators and a 4-Bar Linkage Transmission Structure

This technology features a robotic arm that concentrates both the upper and lower arm actuators at the shoulder base. It utilizes a 4-bar linkage assembly, consisting of a transmission link and two link units, to transfer the rotational force of the lower arm actuator to the elbow axis, allowing for independent or synchronized control of the upper and lower arm.

Conventional technology typically places actuators directly on the elbow joint, which leads to reduced control responsiveness as the end-effector load increases and complicates wiring design.

By centralizing the actuators at the base and transmitting physical power through a linkage assembly, this technology reduces the end-effector load and improves control responsiveness. It can be applied to wearable upper-limb assistive robots, rehabilitation training equipment, and collaborative robotic arms, enabling precise joint control while minimizing the burden on the user through a lightweight end-effector structure.

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Key Features:

• A base positioned at the robot's shoulder, with the lower arm actuator installed at the rear and the upper arm actuator installed at the front.
• An upper arm frame with its upper end rotatably installed at the front of the base, rotating according to the operation of the upper arm actuator.
• A lower arm frame with its rear end rotatably installed at the lower end of the upper arm frame via an elbow axis, allowing for relative rotation.
• A linkage assembly where a transmission link, a first link unit, and a second link unit are connected in a 4-bar structure to transmit driving force.