| 摘要 |
PROBLEM TO BE SOLVED: To suitably protect a joint actuator and a speed reducer from excessive external force acting on a joint of an arm and a leg. SOLUTION: A constitution is adopted for arranging a planetary torque limiter in a connecting part of an input stage and an output stage of the speed reducer. The planetary torque limiter holds the joint with high torsional rigidity by frictional force in the limiter in ordinary operation, and absorbs the action of excessive torque by a slip between parts held by the frictional force in the limiter when high impact force is impressed by falling and overturning, and can avoid damage of internal teeth of the speed reducer, a pinion and a driving circuit. COPYRIGHT: (C)2006,JPO&NCIPI
|
