Abstract: Provided is a parallel mechanism consisting of: a first module including a first plate having a first hollow formed therein; a second module disposed to be spaced apart from the first module, and including a second plate having a second hollow formed therein; and a power transmission unit provided in a space between the first and second modules, and including a third plate connecting the first and second modules in parallel, wherein the first and second modules form a symmetrical structure on the basis of the power transmission unit, a first range of motion in the first module is amplified, by means of the symmetrical structure, to a second range of motion that is wider than the first range of motion in the second module, a working space is formed in a space communicating with the first and second hollows, and the third plate is provided outside the working space.

Abstract: The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions.

Abstract: The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions.