Cloud Joint

Tensegrity Rolling-Sphere Joint Implementing Non-Contact Rotation via Wire Force Equilibrium

This technology is a joint mechanism based on a tensegrity structure that maintains a non-contact state between a first body and a second body, providing rotation and flexibility through wire integration. It utilizes the equilibrium of wire forces to perform rotational movement without physical contact between bodies and controls stiffness and range of motion by adjusting wire tension during external impacts.

Conventional rigid-body joints have faced issues such as the transmission of external shocks, a lack of rotational flexibility due to control limitations, and reduced durability caused by physical friction and wear between bodies.

This technology places a spacer between the first and second bodies and utilizes wire members (first, second, and third connecting wires) to implement a tensegrity structure. A drive motor pulls the wires to induce rolling motion along a virtual circumference, while the inclined design of the frame physically limits the range of motion. Applicable to collaborative robots, wearable robots, and precision manipulators, it enhances rotational performance and longevity by eliminating friction and wear between bodies.

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Key Features:

• A first body and a second body disposed to face each other at a distance, forming both ends of the rolling-sphere joint
• A connector disposed between the first and second bodies, maintained in a non-contact state with both bodies
• Connecting wire members that link the first body, second body, and connector to form a tensegrity structure
• The connecting wire members include first through third connecting wires that maintain the tensegrity structure by achieving a state of force equilibrium

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This invention was developed with support from the Ministry of Science and ICT for the development of biomimetic bionic arm mechanisms.