| 摘要 |
A robot articulation structure using a linear actuator is provided to improve response and motion speed of a robot by transferring the driving force of the linear actuator through a wire to the legs and arms of the robot. A robot articulation structure comprises a first and a second linear actuator(110,120) which provide a driving force to move a second frame(200) combined with a first frame(100) in a joint(150); a first and a second slide(115,125) extended from the first and the second linear actuator and moving straight according to the drive of the first and the second linear actuator; a first wire(130) whose one end installed on the first slide and the other end is fixed by a first fixing part installed on the top of the second frame; and a second wire(140) whose one end is installed on the second slide and the other end is fixed by a second fixing part installed on the lower part of the second frame.
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