| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a rotating and driving device and an articulation structure of a robot using the rotating and driving device which can remove and alleviate a backlash, improve assembling characteristics and prevent the vibration of an output shaft. Ž<P>SOLUTION: The rotating and driving device having a strange planetary gear includes: a first carrier 52 provided so as to be rotatable about a hollow main shaft; a second carrier 53 for supporting the planetary gear 5 so as to be rotatable; a connecting part 54 for connecting the first carrier 52 to the second carrier 53 and guiding the second carrier 53 to the first carrier 52 so as to be freely movable in the direction intersecting orthogonally to the main shaft; and a biasing part 55 for biasing the second carrier 53 to the direction intersecting orthogonally to the main shaft. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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