Patent ID: 8860261

Claim:
An actuator, comprising: support mechanisms that are disposed in a plurality of places of output shafts in a longitudinal direction to form a concentric shape in a frame and support the output shaft in a linear direction and a rotation direction; motor portions that are disposed in the longitudinal direction of the output shaft and drive the output shaft in the linear direction and the rotation direction; a first detecting portion that detects an angle of the rotation direction of the output shaft; a second detecting portion that detects displacement of the direct direction of the output shaft; and an arm that is connected to an anti-load-side one of the support mechanisms, which supports the output shaft in the rotation direction, to be extended toward another of the support mechanisms and that linearly moves along with the output shaft, wherein the first detecting portion is provided on one of the support mechanisms, and the second detecting portion includes a detector attached to the frame and a detection object attached to the arm.