| 摘要 |
PURPOSE: A muscular strength support joint driving device is provided to control precise motions of a wrist by driving a pulley mode of a stepping motor and a ball screw unit, thereby enabling precise works in an actual working environment even though a target object is heavy. CONSTITUTION: A muscular strength support joint driving device (100) includes a joint unit (130) and a joint rotating member. The joint rotating member includes a power transmission member (250) and a ball screw unit (230). The power transmission member is mounted on a supporting block (21) installed on a device frame (110) and formed into a pulley structure receiving the torque from a driving member capable of being rotated forward and back ward. The ball screw unit is operated by the torque of the power transmission unit and rotates the joint unit. |
