Manipulator robot
A manipulator robot is provided. The manipulator robot includes a first link. a second link including an end effector at one side thereof, the first link pivotably connected to another side of the second link, a single motor to provide a pivoting force for pivoting the first link and the second link, and a pivoting force transmitting member to transmit a pivoting force of one of the first link and the second link by the single motor to pivot the other.
1 . A manipulator robot comprising:
a first link including a first end and a second end;
a second link including:
a first end and a second end; and
an end effector at the second end thereof, the first end of the second link pivotably connected to the second end of the first link;
a single motor connectable to the first end of the first link or the second end of the first link, and configured to provide a pivoting force for pivoting the first link and the second link; and
a pivoting force transmitting member actuated by the single motor and configured to:
transmit a pivoting force of the first link to pivot the second link; and
transmit a pivoting force of the second link to pivot the first link.
2 . The manipulator robot of claim 1 , wherein the pivoting force transmitting member includes a belt connecting a second connection portion connecting the second link with second end of the first link and a first connection portion connecting the first end of the first link.
3 . The manipulator robot of claim 2 , wherein the first connection portion and the second connection portion respectively comprise a first pulley and a second pulley.
4 . The manipulator robot of claim 2 , wherein the single motor is disposed at one of the first connection portion and the second connection portion.
5 . The manipulator robot of claim 1 , wherein, when the manipulator robot is actuated for a linear movement of the first link and the second link, lengths of the first link and the second link are set to be the same as each other.
6 . The manipulator robot of claim 5 , wherein, during the linear movement, a first angle between the first link and a direction of linear movement is controlled to be maintained at ½ of a second angle between an extension line of the first link and the second link.
7 . The manipulator robot of claim 1 , wherein, when the manipulator robot is actuated for a curvilinear movement, lengths of the first link and the second link are set to be different from each other.
8 . The manipulator robot of claim 1 , wherein the pivoting force transmitting member corresponds to a gear combination including:
a first gear located at a connection portion connecting the second link with the second end of the first link and configured to rotate;
a second gear located at the second end of the first link and configured to rotate; and
a third gear disposed to transmit a rotational force of one of the first gear and the second gear as a rotational force to rotate the other.
9 . The manipulator robot of claim 8 , wherein the gear combination is composed of an odd number of gears, including the first to third gears.
10 . The manipulator robot of claim 9 , wherein the single motor is disposed at a center of one of the first to third gears.
11 . The manipulator robot of claim 8 , wherein, when the manipulator robot is actuated for a linear movement, lengths of the first link and the second link are set to be the same as each other.
12 . The manipulator robot of claim 11 , wherein, during the linear movement, a first angle between the first link and a direction of linear movement is controlled to be maintained at ½ of a second angle between an extension line of the first link and the second link.
13 . The manipulator robot of claim 8 , wherein, when the manipulator robot is actuated for a curvilinear movement, lengths of the first link and the second link are set to be different from each other.
14 . The manipulator robot of claim 1 , wherein the end effector performs a function of a robot arm.
15 . A manipulator robot comprising:
a first link including a first end and a second end;
a second link including:
a first end and a second end; and
an end effector at the second end thereof, the first end of the second link pivotably connected to the second end of the first link;
a single motor connectable to the first end of the first link or the second end of the first link, and configured to provide a pivoting force;
a pivoting force transmitting member actuated by the single motor and configured to provide a pivoting force; and
a controller configured to control the single motor and the pivoting force transmitting member to:
transmit a pivoting force of the first link to pivot the second link; and
transmit a pivoting force of the second link to pivot the first link.
16 . The manipulator robot of claim 15 ,
wherein, when the manipulator robot is actuated for a linear movement, lengths of the first link and the second link are set to be the same as each other, and
wherein, during the linear movement, the controller is further configured to:
control a first angle between the first link; and
control a direction of linear movement to be maintained at ½ of a second angle between an extension line of the first link and the second link.
17 . The manipulator robot of claim 15 ,
wherein the pivoting force transmitting member corresponds to a gear combination including:
a first gear located at a connection portion connecting the second link with second end of the first link and configured to rotate;
a second gear located at the first end of the first link and configured to rotate; and
a third gear disposed to transmit a rotational force of one of the first gear and the second gear as a rotational force to rotate the other,
wherein, when the manipulator robot is actuated for a linear movement, lengths of the first link and the second link are set to be the same as each other, and
wherein, during the linear movement, the controller is further configured to:
control a first angle between the first link; and
control a direction of linear movement to be maintained at ½ of a second angle between an extension line of the first link and the second link.