| 摘要 |
PURPOSE:To facilitate control of an arm, by fixing a 2nd gear which is in the same shape and size as those of a 1st gear and rotatable around a 2nd revolving axis as the center to a 2nd arm and meshing each other via idle gears in odd numbers supported on a 1st arm, the 1st gear and 2nd gear. CONSTITUTION:A 2nd gear 83 is revolved with a 1st revolving axis 5 as the center but itself is not rotated, when a 1st arm 14 is rocked by driving a 1st driving device 16 in the state of a 1st gear 82 being fixed without driving a 2nd driving device 17. So the posture of the 2nd arm 15 viewed from the external part is not changed in the state of only the 1st arm 14 being rocked. Also the 2nd gear 83 is turned in the same direction as that of the 1st gear 82 via idle gears 60a - 60c, when the 1st gear 82 is turned by driving the 2nd driving device 17, and the 2nd arm 15 is rocked. |
