Humanoid robot joint structure and the joint structure of the robot has been incorporated

摘要

PROBLEM TO BE SOLVED: To provide an articular structure of a robot which enables size reduction and in which backlash can be eliminated.;SOLUTION: The articular structure of the robot includes: a first member 31; a rotary output shaft 32 rotatably supported by the first member 31 around an axis A1 and connectable to the second member 41; and first and second linearly moving actuator 24a, 24b having body parts 62a, 62b and shaft parts 63a, 63b linearly moving with respect to the body parts 62a, 62b. The body parts 62a, 62b of the first and second linearly moving actuators 24a, 24b are rotatably supported by the first member 31, and the shaft parts 63a, 63b are connected to the rotary output shaft 32. By extending/retracting the first and second linearly moving actuators 24a, 24b, the rotary output shaft 32 is relatively rotated around the axis A1 with respect to the first member 31.;COPYRIGHT: (C)2013,JPO&INPIT