The invention relates to a drive (1; 101) of a machine (2) comprising a drive motor (3) for driving a rotatable shaft (5) of the machine (2) around a shaft axis of rotation (4), and comprising a clutch unit (10) in operative connection with the drive motor (3) and the shaft (5) for compensating for a relative movement (11) between the shaft (5) and the drive motor (3). The drive motor (3) has a rotor part (35) surrounding the shaft (5) on which a clutch rotation part (18A) of the clutch system (10) is mounted to be rotatable around the shaft axis of rotation (4), wherein the rotor part (35) is arranged at least partially engaging in the clutch rotation part (18A) in such a way that the clutch rotation part (18A) is mounted radially movably on the rotor part (35).

A servo control device for controlling a motor based on a position command when an operation target is connected to the motor via a wave gear reduction mechanism may include a position control system configured to detect a shaft angular position of the motor to perform a closed-loop control based on the shaft angular position; an inverse control element having an inverse characteristic of dynamics of the position control system; and a compensation amount generation unit configured to generate a compensation amount for compensating for an angular transmission error of the wave gear reduction mechanism. The inverse control element is configured to apply compensation amount to the position control system.

Described herein is an example a strain wave gear that includes: gear elements, where the gear elements include a circular element with an internally toothed gear and where the gear elements include a flex element with a flexible externally toothed gear arranged in the circular element; a wave generator rotatably arranged in the flex element and configured to flex the externally toothed gear in a radial direction to partly mesh the internally toothed gear and the externally toothed gear; support elements including a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element, where elements of the support elements are fixed to elements of the gear elements; and an encoder arrangement including an encoder track and an encoder reader, where a part of the encoder arrangement is fastened between an element of the support elements and an element of the gear elements.

A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.

A gear device includes a first gear, and a second gear meshing with the first gear. At least the first gear is made of a resin. The gear device further includes a connection member connected to an external member, a path member disposed in a path leading to the first gear and the connection member, and other members that are members other than the first gear, the second gear, the connection member, and the path member, and are made of a resin. The first gear, the connection member, and the path member are made of a resin having a higher thermal conductivity than a thermal conductivity of the other members.

A robot arm includes a first arm having a housing with a first stopper provided therein, a second arm rotating relative to the first arm, and a joint unit including an outer ring portion fixed to the second arm, a second stopper provided in the outer ring portion and restricting rotation of the second arm relative to the first arm in cooperation with the first stopper, and an inner ring portion fixed to the first arm and rotating coaxially with the outer ring portion, wherein the housing has a first opening portion opening toward the outer ring portion in a position facing the outer ring portion, and the first stopper projects from the first opening portion.

A gear device includes an internal gear, an external gear, and a wave generator. The external gear includes a cylinder section including external teeth, a diaphragm extending to a radial direction outer side of the cylinder section on the opposite side of the external teeth, and an annular boss section coupled to the outer circumferential end side of the diaphragm. The thickness of the diaphragm gradually decreases from the outer circumferential end toward a center portion in the radial direction of the diaphragm. In a natural state, a part (an inclination start part) where a first surface on the external teeth side of the diaphragm starts to incline with respect to an imaginary surface, which is a surface perpendicular to a rotation axis, is present further on the cylinder section side in the radial direction than the inner circumferential surface of the boss section.

The present disclosure provides a joint support structure of a robot and a robot having the same. The joint support structure comprises: a drive motor; a reducing transmission mechanism; a motor side casing; a transmission side casing; and a knee joint sleeve disposed on outer peripheries of the motor side casing and of the transmission side casing and connected to the reducing transmission mechanism; the motor side casing has a first annular groove; the transmission side casing has a second annular groove; the knee joint sleeve is provided with an annular connector circumferentially surrounding the motor side casing, and the annular connector has a third annular groove matched with the first annular groove to form a first ball track for accommodating first balls; the knee joint sleeve has a fourth annular groove is matched with the second annular groove to form a second ball track.

A gear device includes an internal gear, an external gear, and a wave generator. The external gear includes a cylinder section, a diaphragm, and a boss section. The diaphragm includes a first coupling section, a second coupling section, and a diaphragm main body. A ratio of the length from one opening end of the cylinder section to the surface of the diaphragm on the opposite side of the opening end in a rotation axis direction to the length from the inner circumferential surface of the boss section coupled to the second coupling section to the outer circumferential surface of the cylinder section in the radial direction is 1.0 or more and 5.0 or less, and t(C)≥t(A), where t(A) represents the thickness of the inner circumferential end of the diaphragm and t(C) represents the thickness of the outer circumferential end.

A driving device includes a motor, a wave gear device including a wave generator having first thickness, a flex spline, and a circular spline having thickness larger than the first thickness, a housing functioning as a housing of the motor and including a flange, and an oil seal fixed to the inner side of the flange and extending along the outer circumference of the shaft. The wave generator is set closer to the opposite direction of the flange to configure an internal space with the members. When the internal space is filled with grease, a distance between the oil seal and the wave generator is set smaller than distances among the other members.