{
  "abstract": "A joint structure for a robot includes a hollow first member, a second member, and an actuator that relatively rotates the first member and the second member about a first axis. The actuator includes a motor that is housed in the first member and that rotates a shaft about a second axis intersecting the first axis. A reducer decelerates a rotation of the shaft to transmit the rotation to the second member, and a power transmission mechanism transmits power from the motor to the reducer. The power transmission mechanism includes a first gear fixed to the shaft, a second gear coaxially mounted on the reducer meshes with the first gear, and a holder mounts the first gear so as to be positionally adjustable in a direction along the second axis and mounts the second gear so as to be positionally adjustable in a direction along the first axis.",
  "assignees": [
    "FANUC CORP"
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  "authors": [
    "AMEMIYA WATARU"
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  "source_date": "2026-02-17",
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  "title": "Joint structure for robot",
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