Separable actuator

A separable actuator for controlling an articulated motion of a robot, comprising a primary deceleration module,

• the primary deceleration module comprising,
• a first printed circuit board to feed back output of a driving motor,
• a secondary deceleration module to control the driving motor,
• one or more primary deceleration gears rotated by the driving motor, and
• a housing in which the driving motor, the first printed circuit board, and the one or more primary deceleration gears are mounted,
• wherein the secondary deceleration module is meshed with the primary deceleration module to receive and output power, the secondary deceleration module comprising,
• one or more secondary deceleration gears meshed and rotated with the one or more primary deceleration gears, the one or more secondary deceleration gears comprising a plurality of pin gears protruding from an inner circumferential surface of a mounting space of the case to be formed along the inner circumferential surface, an input gear meshed and rotated with the one or more primary deceleration gears, and a first eccentric shaft and a second eccentric shaft eccentric from a rotational center of the input gear and sequentially protruding from the input gear, and
• a case in which the one or more secondary deceleration gears are mounted and connected to the housing.