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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026070217-A1, on 12 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000001968

Driving mechanism, robot apparatus measurement method, robot apparatus control method and component manufacturing method

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Classification
Robotics & Automation › Robot Architectures
Inventors
NAGATA TORU, OGATA MASARU, OGAWARA TAKAYUKI
Assignee
CANON KK
Original source
US-2026070217-A1, the United States Patent and Trademark Office, 12 March 2026
Document SHA-256
9eafa76c95989f546e86955bca7b4e2bf6b5d749bc2aa3f9cbc9490a71a44125

Abstract

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

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Citation

OpenTechnical Publication OT-2026-000001968, “Driving mechanism, robot apparatus measurement method, robot apparatus control method and component manufacturing method,” published September 15, 2026 at 19:09:50 UTC, https://opentechnical.org/p/OT-2026-000001968.

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