| 摘要 |
A structure of driving joints of a large or middle-sized robot having two feet by using an RC servomotor is provided to deliver power by using a timing belt and a pulley and to enable the joint to move left or right. A first central degree of freedom(120) of a degree of freedom(110) has a large pulley(152) provided at left and right side surfaces thereof. The first central degree of freedom includes a central motor part(160) and has a first side provided with a lateral plate. A rotational pulley is attached to the lateral plate. The rotational pulley is equipped with a circular support. A bearing is coupled to the two opposite side surfaces of the large pulley. The large pulley having a sub-pulley is coupled to the rotational pulley.
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