Patent ID: 7213487
Filing Date: 2007-05-08
Classification: F16H,Y10T

Abstract:
1. An actuator having a coaxially disposed motor and wave gear reduction drive, and an encoder mounted on an output shaft of the motor, wherein the wave gear reduction drive comprises an annular rigid internal gear, a flexible external gear, and a wave generator that causes the flexible external gear to flex in a radial direction and to mesh with the rigid internal gear, and moves meshing positions thereof in a circumferential direction, the output shaft being coaxially connected to the wave generator; the flexible external gear comprises a cylindrical trunk, a diaphragm that widens radially outward from one end of the cylindrical trunk, an annular boss integrally formed on an external peripheral edge of the diaphragm, and external teeth formed on an external peripheral surface of the other end in the cylindrical trunk; and the encoder is a magnetic encoder mounted on a shaft portion coaxially disposed inside the cylindrical trunk on the output shaft.