| 摘要 |
A joint structure of a robot performs a longitudinal swing motion and a lateral swing motion of a hand (8) coupled to an arm link (2). The joint structure includes: a base link (21) as a main body of the arm link (2) having a pair of facing portions (21a); a gimbal link (4) having a longitudinal shaft and (4a) a lateral shaft (4b) not parallel to each other for providing the longitudinal swing motion and lateral swing motion of the coupled body, the longitudinal shaft being supported between the pair of facing portions (21a); a main link (5) with one end thereof coupled to the lateral shaft (4b) of the gimbal link (4) and with the other end thereof coupled to the hand (8); and a sub link (6) with one end thereof coupled to the gimbal link (4) and with the other end thereof coupled to the hand (8), the sub link (6) being provided crosswise with the main link (5) to form a four link mechanism (1) therewith. This ensures a wide movable angle of the joint.
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