| 摘要 |
PROBLEM TO BE SOLVED: To provide a joint driving device for a robot device, which can measure a joint driving torque highly precisely by a simple inexpensive and light weight solid structure without being influenced by the disturbance force of another axis thereby to perform a precise and reliable joint torque control.SOLUTION: A joint driving device comprises: a housing part 55 fixed on a first link 62; a bearing mounted in the housing part 55 for supporting a second link turnably; a drive part accommodated in the housing part 55 for driving the second link turnably; support parts (532, 56 and 52) arranged between the drive part 80 and the housing part 55 for supporting the drive part 80 with respect to the housing part 55; and a torque sensor 52s for detecting torques occurring at the support parts (532, 56 and 52).SELECTED DRAWING: Figure 2 |
