JOINT DRIVING APPARATUS OF A ROBOT, WHICH CAN CONTROL A JOINT WITH WIRE AND A ROBOT WITH THE SAME

摘要

PURPOSE: A joint driving apparatus of a robot, which can control a joint with wire and a robot with the same are provided to minimize the load which is delivered to a drive motor when a joint instantaneously moves or drastically stops.;CONSTITUTION: A joint driving apparatus of a robot comprises a drive motor(500), a ball nut part, a ball screw mechanism, a wire(700), an idle pulley(800), and a joint unit. The drive motor rotates forwardly and reversely. The ball nut part is rotated along with the drive motor. The ball screw mechanism straightly moves relative to the rotation of the ball nut part. The wire is connected to the ball screw mechanism to both sides. The idle pulley is rotatably installed in one side of the wire. The joint unit is rotatably installed in the other side of the wire.;COPYRIGHT KIPO 2010