Abstract: A joint unit that is reduced in size including a plurality of angle detection mechanisms. A joint unit including an input-side support member for a rotationally driven input shaft, a decelerator that decelerates the input shaft to provide a deceleration output shaft, an output rotating body coupled to the deceleration output shaft including a strain generating portion that generates strain due to rotation transmitted by the deceleration output shaft, and an associated rotating body that is coupled to a output-side portion of the strain generating portion of the output rotating body to rotate together with the output rotating body disposed in a space between the input-side support member and an input-side portion of the strain generating portion of the output rotating body.

Abstract: A robot arm and the like are provided which can be appropriately driven even by using a DC power supply having a lower output voltage than a general commercial power supply. The robot arm is provided with a housing and includes: an AC motor having a predetermined drive voltage; and a board having a drive circuit mounted thereon, the drive circuit driving the AC motor by converting a DC voltage into an AC voltage, the DC voltage being output from a power supply providing a predetermined DC voltage output. The board is arranged in surface contact with a predetermined surface of the housing.

Abstract: The invention relates to a joint unit that is reduced in size while being provided with a plurality of angle detection mechanisms. The joint unit includes an input-side support member that supports a rotationally driven input shaft, a decelerator that decelerates the input shaft to provide a deceleration output shaft, an output rotating body that is coupled to the deceleration output shaft, and includes a strain generating portion that generates strain due to rotation transmitted by the deceleration output shaft, and an associated rotating body that is coupled to a output-side portion of the strain generating portion of the output rotating body to rotate together with the output rotating body, and is disposed in a space between the input-side support member and an input-side portion of the strain generating portion of the output rotating body.