| 摘要 |
<p>A differential articulation unit and a robot that uses the articulation units are provided. The articulation unit effectively utilizes output of two motors using interference drive in order to increase a weight capacity while reducing the size and the weight thereof. The articulation unit includes a cover-and-support structure that is a supporting member and functions as a cover externally covering the entirety of a pair of opposing bevel gears and an output bevel gear and that supports the output bevel gear such that the output bevel gear is rotatable. Wave generators of strain wave gearings is each secured concentrically outside a rotor of the outer rotor motor, and the bevel gears are each secured to a circular spline or a flexspline that is an output. The motors, the bevel gears, and the strain wave gearings are each made to have a hollow therein through which wiring is routed.</p> |
