| 摘要 |
According to one embodiment of the present invention, an actuator for controlling joint movement of a robot comprises a first deceleration module and a second deceleration module, which receives and outputs driving force by being in gear with the first deceleration module, wherein the first deceleration module comprises a driving motor, a first print circuit board for controlling the driving motor by feeding back the output of the second deceleration module, at least one first reduction gear which is rotated by a driving motor, and a housing on which the driving motor, the first print circuit board, and the first reduction gear are mounted, and wherein the second deceleration module comprises at least one second reduction gear, which rotates by being in gear with the first reduction gear, and a case on which the second reduction gear is mounted and which is connected to the housing. |
