COAXIAL DRIVE MODULE CAPABLE OF CONTROLLING MOTION AND FORCE

Abstract

A coaxial drive module capable of controlling motion and force according to the present invention comprises: a first drive unit that provides a first drive force centered on a drive shaft, a second drive unit that is coaxially connected to the drive shaft and is linked to the first drive force or provides a second drive force different from the first drive force; and an output unit that receives and outputs the first and second drive forces, wherein the first drive force includes a linear drive force applied to the output unit and controls the position of an object output by the output unit, and the second drive unit includes an elastic drive force applied to the output unit and controls the magnitude of the force output by the output unit. According to this configuration, it is possible to control the position of an object and the magnitude of an electric power that is output by the output unit by sharing a single drive shaft, thereby providing a coaxial drive module capable of highly efficiently controlling motion and force.