JOINT DRIVING APPARATUS FOR ROBOT

摘要

PURPOSE: A joint actuating apparatus is provided to improve back-drivability by removing friction force generated by a reducer as an actuator linearly drives the cable and moves a mover. CONSTITUTION: A joint actuating apparatus comprises first and second pulleys(61,62), a cable(63), and a cable drive actuator(70). The second pulley is connected to the first pulley to be rotated. The cable is combined with the first and the second pulley. The cable drive actuator directly reciprocates the cable to rotate the first and the second pulley.