| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a rotary drive device, capable of providing a high deceleration rate while attaining space-saving of the outer shape of the device, a robot joint structure using the rotary drive device, and a robot arm provided with the robot joint structure. Ž<P>SOLUTION: The device includes a sun gear 4; a planetary gear 5 which rotates about an axis O of the sun gear 4; a pinion 2a disposed on a drive motor 2, and connected to the sun gear 4 to rotate the sun gear 4 around the axis O; a fixed internal gear 6 stationarily disposed concentrically with the sun gear 4 and meshed with the planetary gear 5; and a movable internal gear 7 set to have a tooth number different from that of the fixed internal gear 6, rotatably disposed concentrically with the sun gear 4, and meshed with the planetary gear 5. The sun gear 4 includes a first gear part 41 connected to the pinion 2a, and a second gear part 42 set to have a tooth number different from that of the first gear part 41, disposed concentrically with the first gear part 41, and meshed with the planetary gear 5. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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