| 摘要 |
<p>An actuator is provided. The actuator comprises: a one-axis load cell (torque sensor) which measures torque transmitted from the outside; a reducer which measures errors of an output side gear and the input side gear; a motor which transmits the torque to the reducer; and a controller which regulates the torque of the motor based on the error measured by the reducer. The load cell, reducer, motor, and controller are integrated. The reducer comprises: an output side gear; an output side magnetic rotary encoder (MRE) which is mounted in the output side gear; an input side gear; and an input side MRE which is mounted in the input side gear.</p> |
