DEVICE FOR GENERATING STIFFNESS USING COMPLEX APPLICATION OF PM-TYPE AND VCM-TYPE, AND JOINT OF ROBOT MANIPULATOR COMPRISING THE SAME

摘要

A rigidity generator using a complex-application method of an electromagnet and a permanent magnet and a joint of a robot manipulator comprising the same are provided to obtain a fast response and improve the torque characteristic. A rigidity generator using a complex-application method of an electromagnet and a permanent magnet comprises a rotary shaft(110), a rotor(140) and a pair of disk-shaped stators(130). The rotary shaft is connected to a driven member. The rotor is fixed to the rotary shaft and is comprised of an electromagnet. The stators are arranged at upper and lower parts of the rotor at the determined intervals. A through-hole is formed at the center of the stators. The stators are comprised of a permanent magnet which can be rotated by a driving motor.