Patent ID: 8380351
Filing Date: 2013-02-19
Classification: B25J,F16H,Y10T

Abstract:
1. A manipulator, comprising: a first link; a second link; first and second differential input shafts rotatably supported on the first link; a differential output shaft rotatably supported on the second link; a differential gear mechanism for rotating the differential output shaft about two axes orthogonal to each other in accordance with a sum or difference of rotating speeds of the first and second differential input shafts; a first transmitting portion for transmitting a driving force to the first differential input shaft; a second transmitting portion for transmitting a driving force to the second differential input shaft; a first shaft rotational angle sensor for detecting rotational angle information of the first differential input shaft; a second shaft rotational angle sensor for detecting rotational angle information of the second differential input shaft; and a controller for detecting a reception of an external force by the first or second link based on an output signal of the first or second shaft rotational angle sensor, wherein each of the first and second transmitting portions includes a rotatable worm held in such a manner as to be movable in a translation direction of a rotation axis and a worm wheel engaged with the worm, wherein the worm wheel of the first transmitting portion is fixed to the first differential input shaft and the worm wheel of the second transmitting portion is fixed to the second differential input shaft, and wherein the first and second differential input shafts rotate in accordance with the external force received by the first or second link, thereby making the worm translationally move to absorb and relieve the external force, and a collision of the first link or the second link is detected by detecting a reception of the external force at the first or second link.