| 摘要 |
PROBLEM TO BE SOLVED: To provide a small, lightweight and inexpensive friction type transmission which can easily perform adjustment of pressing force, and a joint device with the friction type transmission incorporated thereto, which rotates a pair of link members around a predetermined shaft center. SOLUTION: The friction type transmission includes: a first annular portion having shape retaining force; a flexible second annular portion having an outer periphery longer in circumferential length than the inner periphery of the first annular portion; a wave generation unit which relatively rotates the first annular portion and the second annular portion by friction force by partially pressing the outer periphery of the second annular portion into contact with the inner periphery of the first annular portion; and a pressure control mechanism which adjusts the pressing force at a contact part between the first annular portion and the second annular portion by adjusting, the shaft center direction, the contact positions of an inclined surface formed on the inner periphery of the first annular portion with a height reduced in the width direction and an inclined surface formed on the outer periphery of the second annular portion with a height reduced in the width direction. COPYRIGHT: (C)2011,JPO&INPIT |
