Robot joint mechanism and method of driving the same

Abstract

A robot joint mechanism includes: a drive power source and a load member driven by an output of the drive power source, and further includes: speeding-up means coupled to the drive power source and the load member such that the output of the drive power source is transmitted to the load member with the output of the drive power source speeded up, wherein the speeding-up means transmits the output of the drive power source with a part of the speeding-up means elastically deformed. The flexible member may be an annular spring. The speeding-up means includes a four-link mechanism, in which a speed of the output link is higher than that of the input link. The input link may be flexible.

Dependencies are inferred from the claim text.