Power transmission system for driving robot joint

A power transmission system for driving a robot joint, which is a cable power transmission system for driving a joint of a robot, the power transmission system comprising:

• a driving part including a first driving unit and a second driving unit;
• a first force transmission part including a first sheath formed to have a predetermined length, flexibility, and a hollow shape and a first wire which is inserted into the first sheath and of which one end is fixed to a joint of a robot and the other end is connected to the first driving unit;
• and
• a second force transmission part including a second sheath formed to have a predetermined length, flexibility, and a hollow shape and a second wire which is inserted into the second sheath and of which one end is fixed to the joint of the robot and the other end is connected to the second driving unit,
• wherein, in a case in which the first driving unit provides a force to the first wire in a first direction, the second driving unit provides a force to the second wire in a second direction opposite to the first direction.