Lightweight joint device for robots

Lightweight robot joint for transmitting multiple rotational forces via coaxial paths

This technology is a mechanical system that centralizes motors within the robot's body and utilizes a coaxial configuration of hollow and through-shafts. This minimizes the weight and inertia of the joints while independently transmitting multi-degree-of-freedom rotational forces to arm or leg links.

In conventional robot joint structures, the motor for pitching motions is mounted directly on moving parts such as the pelvis or upper links. As the inertial mass of the legs increases, this creates limitations in achieving high-speed operation and energy efficiency.

This technology implements a lightweight joint device by fixing motors to the robot's body, transmitting independent rotational forces through coaxial hollow and through-shafts, and distributing and transmitting joint driving forces via gear mechanisms (sun and planetary gears) and rotating components located at the link connections.

‍

‍

Key Features:

• A drive unit that generates multiple independent power sources using one or more motors installed in the robot's body
• A driven link provided on one side of an arm or leg that generates multiple rotational forces from the independent power sources to move the arm or leg
• A transmission member with one end connected to the motor and the other to the driven link, transferring multiple power sources to the driven link
• Second and third transmission units that deliver second and third rotational forces to the upper link via independent, coaxial transmission paths

‍