| 摘要 |
In a joint driving apparatus, a linear motor includes at least one stator part, a movable element, and an electromagentic coil device for energizing the stator part to generate a magnetic field, the stator part includes pairs of magnetic poles, the pairs are adjacent to each other in each of the stator parts, the magnetic poles of each of the pairs face to each other through the movable element to generate a magnetic field passing the magnetic poles through the movable element, and a magnetic polar direction of one of the at least two pairs is opposite to that of another one of the at least two pairs when the stator part is magnetized.
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