| 摘要 |
PURPOSE: An articulation device and a robot having the same are provided to obtain high output even though the size of the device is small and to enable a stopped state of the articulation device to be lasted even though power is turned off in the operation of the robot, thereby preventing a robot from going down when the articulation device is released. CONSTITUTION: An articulation device includes a driving unit. The driving unit is connected to a first frame (310) and a second frame (320) and adjusts the angle of a frame unit including the first and second frames. The driving unit includes a rotation-driving unit (100) and at least one linear-driving unit (200). The rotation-driving unit is connected to the first and second frames with a shaft to provide a rotation-driving force. The linear-driving unit is spaced from the rotation-driving unit and connected to the first and second frames with a pin, thereby proving a linear-driving force. |
