| 摘要 |
PURPOSE:To lower the torque of an input shaft drive motor and make a handling device compact, by providing a speed reduction mechanism between the input shaft of a hydraulic actuator and the input shaft drive motor. CONSTITUTION:A speed reduction mechanism 9 is provided between an input shaft drive motor 2 and the input shaft 4 of a hydraulic actuator 1 which has a mechanical feedback function and whose input shaft 4 is fitted outside an output shaft 3. As a result, the torque and size of the input shaft drive motor 4 can be reduced, and a construction needed at the application of a handling device to the joint of a robot can be made compact.
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