公开(公告)号：EP2676776A1

公开(公告)日：2013-12-25

申请号：EP13172585.5

申请日：2013-06-19

申请人： INSTITUT JOZEF STEFAN

发明人： Kovac, Igor ,  Lenart, Borut ,  Nemec, Bojan ,  Scortegagna , Marko ,  Zlajpah Leon

IPC分类号： B25J17/00

CPC分类号： B25J17/00

摘要： A humanoid torso mechanism is provided that simulates the actual movement of the human body. The torso includes a unique combination of mechanism and controlled rotary axes with actuators (4-8) arranged in a geometry that enables human-like movements. The construction provides mounting surfaces for other humanoid parts such as legs (3), arms (2) or head (1). The structure of the present invention comprises five degrees of freedom. All degrees of freedom are achieved with rotary axes and are concentrated in the lower part of torso except the last one on the top. The lower torso portion of the assembly includes a torso basic rotation around the vertical axis, which is attached to a base such that the output shaft extends vertically upwards. The next axis is attached to the first axis arrangement structure for the torso tilting function. The next two axes are arranged for tilting the torso forward-and-back in the hip and for the buckling of the mechanical spine structure. That combination of buckling and bending mechanical structures is carried out in a unique way that allows the simulation of buckling and bending the spine in a way very similar to the human body. This is very realistic and effectively enforced movement that is very similar to human body movement. The last axis mounted on the top of the torso rotates the shoulder girdle around the vertical axes. Movement of each axis is driven by actuators which are attached in each joint of the torso structure and independently controlled by a computer.

摘要翻译： 提供了仿人体躯干机制，模拟人体的实际运动。 躯干包括机构和受控旋转轴的独特组合，其中执行器（4-8）布置成几何形状，使人类运动。 该结构为其他类人动物部件（例如腿部（3）），手臂（2）或头部（1）提供安装表面。 本发明的结构包括五个自由度。 所有的自由度都通过旋转轴实现，并且集中在躯干的下部，除了顶部的最后一个。 组件的下躯干部分包括围绕垂直轴的躯干基本旋转，其附接到基部，使得输出轴垂直向上延伸。 下一个轴连接到用于躯干倾斜功能的第一轴排列结构。 接下来的两个轴被布置成用于在髋部中前后倾斜躯干以及用于机械脊柱结构的屈曲。 屈曲和弯曲机械结构的组合以独特的方式进行，允许以与人体非常相似的方式模拟屈曲和弯曲脊柱。 这是非常现实和有效的执行与人体运动非常相似的运动。 安装在躯干顶部的最后一个轴线使肩带围绕垂直轴线旋转。 每个轴的运动由附接在躯干结构的每个关节中并由计算机独立控制的致动器驱动。