THE ASAN FOUNDATION;UNIVERSITY OF ULSAN FOUNDATION FOR INDUSTRY COOPERATION
发明人:
Young Jin MOON,Jae Soon CHOI,Hoyul LEE
申请号：
US16413022
公开号：
US20190262087A1
申请日:
2019.05.15
申请国别(地区):
US
年份:
2019
代理人:
摘要：
Provided are a device for driving a robot joint using a wire, an endoscope robot device including the same, and a medical robot device including the same. The device for driving a robot joint includes at least: a base； a first link coupled with the base, and configured to be rotatable relative to the base； a second link coupled with the first link, and configured to be rotatable relative to the first link； a plurality of wires positioned opposite each other, and configured to generate motions of the first and second links； and a wire drive device configured to drive the plurality of wires. Each of the plurality of wires is fixed, via the second link, on one of the base and the first link. Positions where the plurality of wires are fixed are asymmetrical to each other and have different heights to each other.
