Linkage for Equilibrium Manipulators

Linkage for Equilibrium Manipulators

This technology features a rod-shaped linkage made of elastic material (rubber or polypropylene) with annular hinge grooves that form joints. It enables 6-DOF position and orientation control through the elastic deformation of the material, eliminating the need for separate joint assemblies.

Conventional manipulator linkages consist of multiple joint assemblies (translational, universal, spherical), which lead to positional errors due to friction and vibration at each joint, as well as structural complexity that hinders precise miniaturization.

By molding the linkage itself from elastic materials like rubber or polypropylene and carving semi-circular hinge grooves at specific locations to induce bending and twisting, this technology eliminates physical friction and enables an ultra-precise, ultra-compact structure. It can be applied to industrial robots and automation systems, improving the precision and control of manipulators by reducing friction and structural limitations.

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Key Features:

• Rod-shaped elastic linkage connecting the end effector to the actuator
• One or more joints formed to rotatably support the linkage around its central axis
• Joints provide rotational support in response to actuator movement to change the position and orientation of the end effector
• Structure where the linkage bends and flexes via semi-circular hinge grooves embedded in the joints