Actuator having wave gear reduction drive

摘要

An actuator has a motor and a wave gear reduction drive in which a wave generator is coaxially connected to an output shaft protruding forward from a front surface thereof. A shaft portion of the output shaft coaxially extends through inside a cylindrical trunk in the flexible internal gear of the wave gear reduction drive, and a magnetic encoder for detecting the rotation of the output shaft is mounted on the shaft portion. Since the dead space inside the cylindrical trunk is used as the space for disposing the magnetic encoder, an entire length can be reduced in comparison with an actuator in which the motor, the wave gear reduction drive, and the encoder are arranged in the axial direction.