| 摘要 |
PURPOSE:To miniaturize an articulation mechanism and to make the same lightweight by disposing a drive device for one of leg members in the other of them which are articulated together. CONSTITUTION:An armature 10 is rotated by a motor 13 disposed in a cylindrical first leg member so as to rectilinearly move a rectilinear shaft 5 having an external thread part 5A meshed with an internal thread part 10A formed in the armature 10. The rectilinear motion of the rectilinear shaft 5 is transmitted to a second leg member 2 through a link member 6. With this arrangement, the second leg member 2 is rotationally displaced relative to the first leg member 2. |
