Joint device and robot including the same

Joint Device

This technology implements a multi-joint link structure that provides 6-DOF compliance, along with a strain sensor-based joint device for control and measurement. Stiffness can be adjusted through a combination of rotational, universal, and ball joints, while structural yielding is prevented by limiting displacement with stoppers.

Torque sensors used in conventional robot joints are costly and complex, while simple compliance devices struggle with precise force/displacement measurement or active misalignment compensation.

This technology provides physical compliance by placing multiple flexible links between a first and second plate, and calculates displacement and force/moment by attaching strain sensors to each link. It incorporates a mechanical structure that prevents link damage by limiting allowable displacement via stoppers. Applicable to robotic gripping, precision measurement, and automation equipment, it prevents sensor damage and enables feedback control, thereby improving the accuracy and efficiency of assembly processes.

‍

‍

Key Features:

• A joint device comprising a first plate and a second plate spaced apart from each other
• Joint configuration including a ball joint part, a universal joint part, and a rotational joint part
• A plurality of links positioned between the first and second plates, and a plurality of stoppers to prevent link yielding
• A configuration characterized in that the plurality of links provide compliance to the joint device

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of a smart gripper with built-in force/torque sensing and object recognition, designed for easy implementation in manufacturing environments.