| 摘要 |
<p>PROBLEM TO BE SOLVED: To make it possible to highly accurately control the rotation angle of an actuator even when brake is applied by a brake.SOLUTION: An actuator 100 comprises: three motors 106; three crank shafts 132 rotated integrally with the motor shafts 108 of the three motors 106; an eccentric body 136 provided on each of the three crank shafts 132 in the same phase; an external teeth gear 144 integrated in the periphery of the eccentric body 136 so as to be able to swing and rotate; and an internal teeth gear 150 that engages the inside of the external teeth gear 144. In the actuator 100, all the three motor shafts 108 are provided with brakes 126 for braking the three crank shafts. Further, one crank shaft 132A is provided with an encoder 160A for detecting the rotation angle of the crank shaft 132A.</p> |
