---
publication_id: "OT-2026-000002840"
title: "Joint structure for robot"
published_at: "2026-09-15T19:15:41.835698Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002840"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j17/00"
  - "b25j9/102"
  - "b25j9/102"
  - "b25j9/10"
  - "b25j9/102"
---

# Joint structure for robot

## 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.