Patent attributes
A finger joint mechanism (1) having two wave gear reduction drives (20, 30) disposed coaxially with each other, in which rotational force of a motor (40) is transmitted to a rotation input shaft (13) common to the drive gears through a driving bevel gear (42) and a driven bevel gear (43). Output shafts (11, 12) are formed integrally with bosses (24, 34) of the cup-like flexible external gears (22, 32) of the wave gear drives (20, 30), and mounting arms (9, 10) of a rotating member (3) are fixedly connected to the output shafts. The wave gear reduction drives, which can be easily reduced in size, are used as the reduction gears for a rotary actuator (5) assembled in the finger joint mechanism. Since the finger joint mechanism uses the two wave gear reduction drives, the rate of increase in torque capacity against the rate of increase in an installation space is much higher than a case where one gear reduction drive with a large model number is used to increase torque capacity of the mechanism.
