JOINT MECHANISM OF HUMANOID ROBOT

PROBLEM TO BE SOLVED: To provide a joint mechanism of a humanoid robot having a high transmission efficiency of torque.SOLUTION: A joint mechanism Y1 includes: a first member 100; a second member 200; and a gear device 300 which converts rotation number at a prescribed rotation number ratio between the first member 100 and the second member 200 and transmits a driving force. Therein, the gear device 300 has a crank shaft 10 formed of a first eccentric part 10a, a first oscillation gear 14 having a first insertion hole 14b to which the first eccentric part 10a is inserted and an outer teeth 14a, a carrier 4 which retains the crank shaft 10 and an outer cylinder 2 having an inner teeth pin 3, and is configured such that the carrier 4 and the outer cylinder 2 are concentrically displaced by oscillation of the first oscillation gear 14. 【課題】トルクの伝達効率が高いヒューマノイドロボットの関節機構を提供する。【解決手段】関節機構Ｙ１は、第１の部材１００と、第２の部材２００と、第１の部材１００と第２の部材２００との間で所定の回転数比で回転数を変換して駆動力を伝達する歯車装置３００と、を備え、歯車装置３００は、第１偏心部１０ａが形成されたクランク軸１０と、第１偏心部１０ａが挿入される第１挿入孔１４ｂおよび第１外歯１４ａを有する第１揺動歯車１４と、クランク軸１０を保持するキャリア４と、内歯ピン３を有する外筒２と、を有し、第１揺動歯車１４の揺動によってキャリア４と外筒２とが同心状に変位するよう構成される。【選択図】図２