This technology is a mechanism that improves wire-driven systems in multi-joint robots to achieve independent force transmission for specific joints. By applying an alternating winding method (pulley principle) around winding components (pulleys or protrusions) between multiple joint bodies, it enables independent torque control for each joint, achieving independent joint operation and robot miniaturization without the need for spring stiffness adjustments.
Conventional technology relies on wire tension for joint actuation, where serial connection of multiple joints causes wire tension to interfere with downstream joints. To resolve this, spring stiffness must be designed differently, which increases design complexity as the number of joints grows and limits robot miniaturization and the implementation of high degrees of freedom due to component thickness imbalances.
This technology utilizes the movable pulley principle by equipping the first joint body with at least two first winding components and the second joint body with at least one second winding component, winding the wire alternately around them. This increases the ratio of force applied to the joint relative to the tension of the wire drive, optimizing independent rotation angle control and drive efficiency for specific joints while minimizing inter-joint interference. Applicable to multi-joint robots, collaborative robots, and precision manipulators, it achieves independent joint operation and miniaturization without requiring spring stiffness adjustments.
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