Joint structure and robots

Abstract

A joint structure includes a motor, a speed reducer, and a friction torque imparting element. The speed reducer has an input section and an output section. The input section receives rotation from the shaft of the motor. The output section reduces the rotation received from the input section and outputs the rotation. The friction torque imparting element is maintained in contact with a rotating element. The rotating element is positioned at any location between the motor and the input section. The friction torque imparting element continuously imparts at least a portion of static friction torque to the rotating element, the static friction torque being used to generate a holding torque at the output section that is greater than the torque exerted by gravity on the output section.

Images