WO1984004722A1

WO1984004722A1 - Articulated robot

Info

Publication number: WO1984004722A1
Application number: PCT/JP1984/000009
Authority: WO
Inventors: Shinkichi Himeno
Original assignee: Yushinkaihatsu Yk
Priority date: 1983-05-26
Filing date: 1984-01-18
Publication date: 1984-12-06
Also published as: JPS59219182A

Abstract

An articulated robot is provided with a linkage system constituted by two or more links connected by one or more joints. The articulated robot comprises an actuator provided at each joint which is adapted to be able to apply a torque in a certain direction to all or part of the linkage system, and a tension-transmitting member provided at the uppermost link of the linkage system which is adapted to be able to apply a torque to all the joints, so that torques in opposite directions can be simultaneously applied to all the joints being operated. The articulated robot of this invention can be operated in the presence of internal tension and has excellent positional controllability and torque controllability. In addition, since the linkage system has a high rigidity, the articulated robot can withstand impact loads.

Description

Description Enji Robot Technical Field

The present invention relates to a joint robot having a link system composed of two or more links, and is applied to a multi-joint finger, a multi-joint arm, a walking control robot, and the like.

Technology background

A multi-joint robot with a multi-joint link system consisting of multiple links connected by joints is described in Soji Inagaki, "Introduction to Industrial Robots" (Taiga Publishing, 1982). In this mouth port, position control of each link and control of torque applied to each joint are performed by driving one actuator, such as an electric motor, oil or pneumatic cylinder, etc., arranged for each joint. It is done by doing. When link position control is performed, the link is displaced by changing the bending angle of the joint by driving the corresponding actuator. The bending angle of the joint is detected by the angle sensor arranged for each joint, and the detected value is compared with the target value of the bending angle specified by the control device. The actuator is operated so that the detected value of the bending angle matches the target value, and as a result, the link is controlled to the target position. Control of the torque applied to each joint is performed by operating one actuator arranged for the joint with a strength corresponding to the magnitude of the torque required for the joint.

Thus, in the above robot, the position control of the link is also considered. When controlling the torque applied to the joint, the joints are moved in the required direction by the actuators provided for each joint.

Okada: “The flexible artificial hand J (5th Biomechanism Symposium (1S77), Bulletin) describes a three-fingered, multi-M-section robot. Alternatively, a pair of driving cables that move joints in opposite directions are arranged through a flexible tube, and the driving cables are pulled by a motor via an electromagnetic clutch to drive individual joints. In this mouth pot, two joint cables are arranged at each joint, but when bending the joint in the forward direction, only the other cable is used and when bending the joint in the opposite direction. Only the other cable is used, two cables are not used at the same time, and only one actuator is used when the joint is driven in the required one direction. Introduction to Robots for Robots '' It is like.

Such a conventional joint robot has the following disadvantages. First, when controlling the position, firstly, the actuator is moved with the で power whose magnitude is proportional to the difference between the target angle and the detected bending angle of each joint. After doing this, the joint does not work with a slight amount of power to support the link system. At this time, if an impact load is applied to the link system, there is always a response delay of the support system, and a large positional shift of the link occurs until the correction power is activated. That is, since the rigidity of the position-controlled link system is low, even if an impact load is expected, it cannot stand by and endure it.

Second, as the link approaches the ferocious position, the magnitude of the drive signal to the actuator becomes small and the drive output of the actuator approaches zero. Good. At this point, the drive output is usually nonlinear near the zero point, ie, near the rising portion and near the limit output, and is linear in the middle. Therefore, in the above-mentioned conventional technology, when the link approaches the target position, the position control is performed in a region where the drive signal and the drive output are non-linear. Control becomes difficult. As a result, the positioning accuracy of the link is not good.

Third, there is relatively large mechanical backlash in the prior art link system. A part of the power of the actuator is absorbed by this mechanical play, and the actual link movement tends to be smaller than the intended movement. In the case of the minute movement of the link required near the target position during position control, the difference between the actual movement and the intended movement becomes relatively large, which also determines the accurate position of the link. Make it difficult.

Takase, et al. Proposed a 閬 -segment type manifold with torque control capability that causes the joint to rest due to the difference in tension between a pair of cables wound around a pulley arranged for each joint. 37, No. 3 (1973); The 4th International Robot Symposium (IS IB), January 1374 (Tokyo), bulletin. This manipulator is combined with a multi-joint link system, but the pair of cables arranged for each joint is configured so that the other joints can have minimal torque. Therefore, twice as many cables as the number of joints are required.

Disclosure of the invention

The purpose of the invention was to eliminate the disadvantages of the prior art described above.

Therefore, the purpose of the invention is high, the position control accuracy is high, and the rigidity of the link system is high.

_ OMFI, J ^iPO The purpose of the present invention is to provide a joint π-pot capable of withstanding an impact load because the property can be increased as required.

Another object of Taishiki is to provide an articulated bot that can achieve the above objectives with a small number of factories.

According to Taikiki, a joint robot having a link system consisting of two or more links linearly connected by one or more joints, at least one for each joint And an actuator capable of applying a torque in a certain direction and a Z direction or the opposite direction to the whole or a part of the link system, and a most distal link of the link system. A flexible linear tension transmitting member, wherein the actuator provided for the most distal joint of the actuators is opposite in direction to the torque applied to the most distant joint during operation. A joint robot having a member capable of applying directional torque to all M joints of the link system is provided.

In the detailed description, the link closer to the mounting base of the link system is called the “proximal” link, and the link closer to the tip of the link system is called the “distal” link.

* The flexible linear tension transmitting portion used in the present invention is an actuator that can apply torque to all the joints of the link system. Therefore, the joint robot of the present invention requires at least the number of degrees of freedom of joint rotation plus one actuator. In order for the flexible linear tension transmitting member to be able to torque all the joints of the link system of interest, one end is connected to the distal-most link and a suitable guide is provided. ', It is necessary to be guided to the driving device in a state of being shifted from the central axis of the proximal link. The guide defines the running in the case of the tension transmission section.

This ':'. Ί? Ι- For example, there are pools and rings.

Examples of the flexible linear tension transmitting member used in the invention include a cable, a wire, a chain, a belt, and a toothed belt. Examples of the material include a metal and a synthetic resin. , Shape memory alloys, and composite materials.

Various types of actuators that need to be provided for each joint can be used in the joint robot of Kishiki. For example, the above-mentioned tension transmitting member, torque motor, hydraulic or pneumatic cylinder, solenoid, electric motor, electromagnetic clutch, etc. are used. Expansion and contraction can also be used. Apply torque only to joints attached to actuators such as torque motors. On the other hand, an actuator such as a tension transmission member—a shape memory alloy—can provide torque to one or more joints depending on the usage.

In the Koshi robot, a driving force to bend in one direction and a power in the opposite direction can be simultaneously applied to the joint during operation, and the link system then moves in the opposite direction. You are under a kind of tension due to the establishment of power. * In the description, it is referred to as "inner tension".

The joint robot according to the invention can perform position control with high accuracy. This effect is especially significant when the link system approaches the target position. The link system can be kept in an internally tensioned state even when the link system is in motion or in a stationary state after the end of position control. At this time, since the strength of the link system is increased, even if an impact load is applied from the outside, the link system can withstand the position so as not to be displaced much. If the magnitude of the external impact load can be expected, adjust the internal tension to

/ _ ΟΜΡΙ ー PO You can wait for it.

The fat-headed Uroushi robot is particularly advantageous when the link system is a multi-joint robot including two or more joints. In this case as well, the number of actuators is sufficient with the number of joints, that is, the number of degrees of freedom plus one. Of course, additional actuating units can be provided as needed, but are not normally required.

* As one embodiment of the articulated robot of the invention, there is a case where two or more link systems according to the large invention are linked to form a large link system.

In addition, the tension transmitting part seal used as an actuator in the invention of the present invention branches at one or more points on the way to the link to which one end is connected, and the segment of the branched member. May be bonded to one or two or more links at the second or lower position. According to this embodiment, excessive bending at some joints of the articulated link is automatically corrected, and uniform bending of the link system is achieved.

It should be noted that the mechanism of * Kiyoshi is not always required to be provided in all the joints of the articulated robot, and may be used only for parts that require delicate operations. When two or more degrees of freedom (bibots) are present in one joint, a swinging means may be provided in both the forward and reverse directions of each degree of freedom. Therefore, * A conventional link system may be distant and / or proximal to the link system according to the invention.

Hereinafter, the joint robot of the invention will be specifically described.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 to FIG. 5 show an embodiment of a BI clause robot according to the present invention.

6 and 7 show an embodiment of the articulated link joint D-bot according to the present invention.

Ο ΡΙ Fig. 8 shows an example of a multi-node link system including two link systems according to the invention.

9A to 9C show an embodiment using a branched tension transmitting member.

Embodiment of the Invention

The embodiment shown in FIG. 1 has a one-joint link system, and a two-end cable is used as a joint actuator. Two cables may operate equivalently in this embodiment. In the figure, 1a and 1b are links, 2 is a joint composed of a pivot, ^ is a bending angle of the joint, 3a and 3b are cables, and 4 is a link mounting base. Ring 1a A joint 2 constituted by a pivot can rotate in a forward direction represented by an arrow X and a reverse direction represented by an arrow Y. Cables 3a and 3b are connected to the side of link 1a in the forward direction (X) and the side in the reverse direction (Y), respectively. The guide pulleys 5 and 5 are fixed to the link 1b, and guide the cables 3a and 3b so that torque can be applied to the joint 2. 6a and 6b are sub-control units, and 7 is a main control unit. The sub-control device 6a is a driving device 8a, a length sensor 9a, a V-F converter 10a, a current value counter lla, a comparator 12a, a differential amplifier 13a, and a tracking counter 14a. a, comprising a drive control circuit 15a. ¾ 勖 Device 8a is a device that can change the length or tension of cable 3a. For length sensor 9a, wind cable 3a over the potentiometer, and

By converting the change in the length of 3a into a resistance value, the length from the end of the cable 3a to the mounting base is detected. 6b is also a sub-control device and has the same configuration as the sub-control device 6a. The main controller 7 controls the length and tension of the cables 3a and 3b to control the length and tension.

O PI IPO The target value is set and output to the sub-controllers 6a and 6b as a position signal and tension signal.

Next, the operation of this bot will be described. The case where the tip l a ′ of the link 1 a is displaced from the position (X o) to the position (X n) will be described. The main controller 7 sets target values for the tension of the cable 3a and the length of the cable 3b. If the length of the cable 3b is reduced while tension is applied to the cable 3a, since the number of rotating joints is two (2), the position of the tip 1a 'of the link 1a is unique. Is determined.

The tension is applied to the cable 3a based on the tension signal from the main controller 7 to the driving control circuit 15a, the joint 2 starts rotating, and the cable 3b is passively extended.

The length of the instantaneous cable 3b is monitored by the length sensor 9b and input to the comparator 12b via the VF converter 10b and the current value counter lib. On the other hand, the target value of the length of the cape / re 3b is output as a position signal from the main controller 7 to the follow-up counter 14b and input to the comparator 12b.

The comparator 12b compares the current length of the cable 3b with the target value, and does not output to the differential amplifier 13b if the length of the cable 3b is still insufficient. If the length of the cable 3b exceeds the target value, a signal corresponding to the difference is output to the difference amplifier 13b, and the driving device 8b of the cable 3b is operated by the motion control device 15b, and the cable 3b is operated. Turn back b. With such feedback, the tip 1a 'of the link 1a can be moved to the target position (Xn). During this time, the tension of the cable 3a is constant.

In the above control process, the position of the link tip 1a 'is shifted from Xo. While moving to X n, only cable 3a is driven.When tip 1a 'exceeds target position ππ, a tension greater than the tension applied to cable 3a is applied to cable 3b, and joint 2 is moved. It will be pulled back to the desired position.

Although this control method allows a temporary positioning, the signal of the current value counter 11b is output not only to the comparator 12b but also to the controller 7, and based on the monitor of this value, the link is performed. As the tip la ′ approaches the target position X n, the main controller 7 recharges to slow down the rotation of the joint 2

If a tension signal is output to the movement control device 15b of 3b so as to gradually approach the target position Xn, more preferable position control can be performed.

Regardless of which control method is used, in the final stage of control, while the cable 3a always maintains a constant tension, the tension of the cable 3b is increased or decreased so as to reduce the deviation from the target position. To perform positioning. In other words, the cable 3a and the cable 3b are simultaneously moved, and the joint 2 is rotated by the difference in power.

An example of another control method will be described more specifically with reference to FIG. If no correction is performed under the tension of Ti applied to the cable 3a, the end l a 'of the link 1a is higher than the true target position X n.

C T 1 = α · ø, where α is the servo system amplification factor), but the actual stop position.

Therefore, in order to make the stop position coincide with the true eye position, the target position may be set in advance to a position corrected by Φ (= ¹ /).

Fig. 3 shows the case where the position of link 1a is controlled in the presence of load W.

O PI You. Based on the tension of cable 3a that is output from main controller 7 and the position command of cable 3b, the tension and the load W of cable 3a ultimately result in Ulu-knot 2: X The torque to rotate in the direction and the torque in the Y direction due to the tension of the cable 3b are balanced at the target position.

When holding an object with a certain force with a finger, it is necessary to control the torque generated at the K-joint, not at the position of the link. In this case, the tensions applied to the main controller 7 and the cables 3a and 3b may be set so that the difference between the tensions is the required joint torque. For example, if it is desired to set the torque of joint 2 in the X direction to 100 Nm, the torque of cable 3a may be 120, the torque of cable 3b may be 20 Nm, or the torque of cable 3a may be 200 Nm. The torque may be 100 Nm with cable 3b. In short, it is only necessary to make the difference between the shearing torques of the two cables equal to the predetermined joint torque. The combination to be used can be freely set according to the situation, as described later. The embodiments described above are: One of the simplest of the Kishi's articulated bots, but * the features of the invention are concise. Therefore, the advantages of the unclaimed crochet crbot according to this embodiment are as follows.

(i) Due to the tension of the cable 3a and the tension of the cable 3b, which opposes the tension, the internal tension is applied to the joint even after the end of the position control to maintain the position of the link or the bending angle of the joint. Exists. Therefore, even if there is an external impact load or the like, the positional deviation of the link can be suppressed to be small. During normal operation, the tension of the cable 3a in this example is small. By increasing the tension and increasing the tension of the cable 3b so as to antagonize the tension, the internal tension of the joint can be increased so that the joint can be prepared for impact. Then, the displacement due to the impact is minimized. .

(ii) Even if the link approaches the target position as well as the drive signal to the actuator, the value is close to the value of the tension current to the cable 3a. Therefore, even if the deviation from the target position is very small, the automatic output can be controlled in a highly linear region. Therefore, the positioning accuracy of the link is high.

(H i) In positioning, when the link is gradually converged to the target position while reciprocating near the target position by the servo mechanism, for example, the joint moves from the X direction to the Y direction. In the case of reversing, if only the motive power in either direction acts as in the past, the movement of the first actuator after the reversal is absorbed by the mechanical play, so that accurate positioning is not possible. It was difficult. However, when tension is applied in both XY directions and the rotation of the joint is controlled by the difference between the two as in the last embodiment, since the joint has internal tension, the links are strongly pressed by the joint. As a result, they are constrained to each other at the site where the potential energy is minimized. As a result, the mechanical play that is always present inevitably disappears, and the positioning accuracy is significantly improved.

The advantage of * Kyomei's robot described above can only be realized when actuating units that are in opposition to each other in terms of joint rotation operate at the same time. In other words, when actuating units that are in opposition to each other are simultaneously activated, their outputs cancel each other out, reducing work capacity to the outside and seemingly irrational.

ΟΜΡΙ However, by changing the degree of joint tension as needed according to the expected magnitude of the impact, the required accuracy of positioning, etc., it is possible to supplement the improvement in operability.

FIG. 4 shows another embodiment of the invention of the last part of the present invention. Reference numeral 18 denotes a torque motor, which is a section connecting the links la and lb. 17 is an angle sensor, 18 is a torque control cable, and 5 is a guide pulley.

The sub-control unit 6b is composed only of the automatic control unit 15b, and the other

This is the same as the embodiment of FIG. The same elements as those in the embodiment of FIG. 1 are denoted by the same reference numerals. The position of the link can be controlled by changing the bending angle Φ of the joint by rotating the torque motor IS in the forward or reverse direction. In the case where only the position control is intended, the position signal is supplied to the torque motor 18 as in the prior art, and the link by the rotation in Section 2 is applied.

If the displacement of 1a is detected by the position sensor 17, the position of the link 1a can be controlled. Here, if the required tension is applied to the torque control cable 18 connected to the side of the link 1a that faces in the opposite direction (Y), the tension is reduced against the tension of the torque control cable 18. In order to keep the link la in a controlled position, a driving signal corresponding to the tension of the torque control cable 18 is given to the torque motor 18 from the drive control device 15a of the sub-control device 6 & so that the torque motor 18 Is displayed. In this way, position control is performed so that the position of the link la is not displaced.

As is clear from this example, the position sensor for controlling the position may be an angle sensor (17) provided at the joint, or, as shown in the previous example, a tension transmitting member. May be a length sensor.

FIG. 5 shows a third embodiment of the present invention. The convex curved surface 20b 'at the upper end of the link 20b and the concave curved surface 20a' at the lower end of the link 20a are slidably contacted 51.

O PI Form a knot. Cables 21 and 22 are connected to opposing side surfaces of the lower portion of the link 20a, and the joint is maintained by the tension of both. Cables 21 and 22 are guided along the side of link 226 towards the mounting base so that torque can be applied to this joint. The joint by a change in length of the cable 21, 22 is bent and stretched _β

According to this embodiment, since the links 20a and 20b can be connected without using a joint body for the joint, the range of the bending angle of the link 20a is 180. As described above, the work range and application range of the joint robot can be expanded. In addition, since the concave curved surface 20a 'of the link 20a and the convex curved surface 20 of the link 20b slide, there is no stress concentration at the joint as in a conventional joint using an axle, and the joint is damaged. Hateful.

FIG. 6 shows an articulated finger according to still another embodiment of the present invention. Links 31, 32, 33, and 34 are connected by sections I, Π, and それぞれ, respectively. Cables b, c and d are connected to the lower side surfaces of the links 31, 32 and 33 as actuators of the joints I, Π and ΙΠ, respectively. Cables b and d are coupled to the Y-direction side shown, and cable c is coupled to the opposite direction: X direction side. In addition, a cable a is connected to the proximal side of the distalmost link 31 of the multi-joint finger on the side facing in the X direction. Each cable is guided through a guide 5 to a mounting base 4 so that an X or Y torque can be applied to the corresponding joint and the proximal joint. That is, for example, cable a can add torque in the X direction to all joints I, Π, and ΠΙ, and conversely, cable b can apply torque in the Y direction to all joints I, Π, and ΙΠ. Torque can be applied. Cape c can apply a torque in the X direction to joints II and ΠΙ. The bending and extension of the multi-jointed finger can be performed by changing the length of the cable. The position of each link is determined by the length of three thick cables. For example, to control the link system to the position shown in FIG. 5, the position of the link system can be determined by measuring the lengths of the cables b, c, and d. In this type of multi-joint link system, generally, if the length of the same number of cables as the number of joints (the number of degrees of freedom) is determined, the position of each M joint is uniquely determined. . The cable 3a is very redundant in this sense, and is not necessary for determining the position of the link system. However, if a tension is applied to the cable 3a, the cables 3b, 3c, 3d will be pulled with the required tension so as not to disturb the position control of the links 1a, 1b, 1c. Become. In this way, the position of the link system is controlled in a state where there is internal tension throughout the link system.

As can be seen from the above description, in general, in a multi-articulated link system having two or more joints, in addition to the cable provided for each joint, at least one cable connected to the most distal link is provided. If present, it is possible to simultaneously apply a forward torque and a reverse torque that antagonize all of the verses 51, and can cause internal tension in the entire link system.

Next, referring to FIG. 6, a case where the tip of the link system applies a force of P to the object W will be described. Applying the external force of the vector P to an external object is as follows: 1. Assume the virtual reaction force of P and consider the balance between this reaction force and the link system. Reaction force base click the true: P is, joints I, [pi, the torque having been to ΠΙ -:, one L 2, it is an L _3. Let T 4 be the tension of each actuator, and let λ を be the length of the lever arm when each actuator applies torque to each joint. Here, λ Π is the lever arm for joint i of actuator j. For example,

Eleven OMH Input ai is the lever arm for joint I of actuator a. Here, since the torque equilibrium is established for each joint, when expressed in the form of a matrix, λ bi λ t> 2 input ¾4 CD insertion (: 1 input C2 A_ C3 input G4

Becomes Incidentally, for example, T4 is閟節_{I, λ 3 4 = λ b} 4 = 0 in the no effect on II. The direction is positive clockwise.

While there are only four unknowns, Ti to T4, there are only three equations, so there are countless solutions. Conversely speaking, if one of T 4 is arbitrarily determined and a tension signal is obtained, the remaining three are uniquely determined based on the position signal. For example, the tension Ti of the cable a is arbitrarily given. By the way, since the output range of each actuator is limited, if is given without permission, other actuators may not be able to follow. The following operation is performed to prevent this. In short, since it is a problem to solve simultaneous equations, when a ₂ and λ b ₃ are pivoted and the mining is performed,

-λ ^a l 1-0 0-r ^T i 1 Γ ^{L 1}

λ 0 1 0 T ₂ = L 2 (2)

-λ, ci 0 0 1-τ ₃

T ₄ "

Becomes

f OMFl When rewritten,

Therefore, (4)

The common range of Τ1 obtained from these inequalities is the range in which can be set.

Therefore, within this range, T i is determined according to the work purpose, and the length (position signal) is given to the other cables b, c, and d. Is controlled. At this time, since each joint is controlled in a tensioned state, the impact resistance and the positioning accuracy are improved as described above. Furthermore, regarding the torque control of the joint 関節, for example, whether in the forward direction or in the reverse direction, two thick actuators can be involved in the driving direction, so that the maximum output value can be increased. .

FIG. 7 shows another embodiment of an articulated finger. Leave only cable b for the multi-joint finger in Fig. 6 and connect cables a, c, and d to the torque motor.

They are replaced by P, q, and r. When the articulated finger is operated by generating internal tension, the torque motors P, q, r apply torque in the X direction to the joints I, ，, ΠΙ, respectively, and the cable b is connected to the joints I, Π, All EL will gain Y-direction torque.

O PI FIG. 8 shows another embodiment of an articulated finger. This articulated finger includes the link systems A and B of the present invention. The proximal link of distal link system A is connected to the farthest link of proximal link system 13. Section I 'between each link! 7 'is composed of a torque motor. One end of cable X for link system A is coupled to the side of link 41, and is guided to provide torque to joints I 'and II', then the side of link 41 Through the center of the link system to a drive (not shown). Therefore, cable X is the joint of link system B 17, 17 ′

Does not add torque. Cable y for link system B

Is linked to link 43.

9A-B illustrate another embodiment of an articulated link system having a bifurcated tension member. The links 51, 52, 53 are connected by the joints I, Π, and the drive cables 54, 55, 58 are connected to the links 51, 51, 52, respectively. The cable 54 branches before reaching the link 51, and one segment 54a reaches the link 51, and the other branched segment 54b extends farther from the link 51. Connected to link 52.

In order to grasp an object with a finger, it is necessary that all the joints of the articulated finger bend uniformly. In this case, link-based torque control is performed, but joint position control is not directly performed. Therefore, if there is a large difference in the magnitude of the friction between the joints, or if a sudden load is applied to some of the links in the link system, the bending of all the joints may become uneven.

Fig. 9B shows the condition where Section I is excessively bent. At this time, a large tension acts on the segment 54a, and further bending of the joint I is suppressed. On the other hand, the segment 54b relaxes, so the music of the joint 促進 is promoted.

OMPI Is done. In this way, uneven bending is corrected. Fig. 9C, on the other hand, shows a state in which Section 閬 is excessively bent. In this case, while a large tension acts on the segment 54b, the segment 54a relaxes almost and the unevenness of the bending is corrected by the principle of the rod. Thus, according to the above embodiment, even when the multi-joint link system is under the torque control mode, uniform bending of the link system is realized.

Industrial availability

The joint π-bot of Taikiki can be used for walking control robots such as articulated joints and articulated fingers in various fields such as various industrial and medical fields.

OMPI

-VflPO

Claims

19 Claims

1.1 A joint robot having a link system consisting of two or more links connected linearly by one or more joints, and at least one joint robot is provided for each joint. Further, an actuator capable of applying a torque in one direction or one direction or the other direction to the whole or one of the link systems, and is coupled to a most distal link of the link system. A flexible linear tension transmitting member, wherein the actuator provided for the most distal joint of the actuators has a direction opposite to the direction of the torque applied to the most distal joint during operation. A joint robot having a member capable of applying the same torque to all the joints of the link system.

2. The joint robot according to claim 1, wherein the proximal link of the distal link system is connected to the distal link of the proximal link system. A joint robot having the above link system.

3. The joint robot according to claim 1, wherein the tension transmitting member branches at one or more points on the way to the uppermost link, and the segment of the branched member. A joint robot whose link is connected to one or more links below the second place.

4. The joint π-bot according to any one of claims 1 to 3, wherein the actuator provided for each joint comprises a flexible linear tension transmitting member, and an electric motor. , A torque robot, a pneumatic cylinder, a hydraulic cylinder, a solenoid, an electric motor, an electromagnetic clutch, and a joint robot selected from shape memory alloys that expand and contract by controlling the degree of the hood.

5 · A joint lopot according to claim 4, wherein each joint has

own All or a part of the provided actuator is a flexible wire connected to the upper link of the joint, a tension transmitting portion, and one or more points on the way to the upper link. A joint bot that branches at and connects the segment of the branched member to one or more lower links.

6. The joint robot according to claim 6, wherein a conventional link system is connected to the proximal and / or the distal end of the link system.