| 摘要 |
An actuator apparatus with two-way clutch for a multi-power transmission is provided to drive a plurality of joints of a robot independently by using one motor. An actuator apparatus with two-way clutch for a multi-power transmission comprises a rotary shaft(10), a main disk(20), a connection pin(30), a sub disk(40), a permanent magnet(50), an electric magnet(60), and a control unit. The rotary shaft rotates by receiving rotation force from a motor. The main disk, including an interlocking recess at the top, is fixed to the rotary shaft to rotate with the rotary shaft. The connection pin has a protrusion(304) interlocking with the interlocking recess of the main disk and combining protrusions(302). The sub disk has holes, through which combining protrusions of the connection pin pass, and revolves around the rotary shaft. The permanent magnet is attached to the combining protrusions passing through the holes of the sub disk. The electric magnet transmits tractive and repulsive force to the permanent magnet according to a control signal of the control unit.
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