| 摘要 |
PURPOSE: A joint actuating device and a robot having the same are provided to prevent backlash by tightly connecting the outer teeth of a pair of pinion gears to the inner teeth of an internal gear through a tension control unit. CONSTITUTION: A joint actuating device(100) comprises an internal gear(110), a main pulley(120), first and second pinion gears(131,132), first and second pulleys(141,142), first and second belts(151,152), and tension control units(160,170). The internal gear is formed in the shape of ring. The main pulley is located at the center of the internal gear and is connected to a power source(180). The first and second pinion gears are engaged with the internal gear on both sides of the main pulley. The first and second pulleys are coupled with the first and second pinion gears, respectively. The first and second belts connect the first and second pulleys, respectively. The tension control units control the tension of the first and second belts. |
