| 摘要 |
PROBLEM TO BE SOLVED: To provide a wrist mechanism for a robot working hand, whereby complicated computation is eliminated in working process management using the robot working hand. SOLUTION: A wrist mechanism 1 for a robot working hand includes a cylindrical member 8 for connecting the wrist mechanism 1 to an robot arm along an arm shaft 4 of the robot arm and a tool holder 9 rotatably mounted on the cylindrical member 8, having a tool receiving shaft 6, rotated about a second shaft 5 perpendicular to the arm shaft 4 and partially rotated about a third shaft 7 which is parallel to the tool receiving shaft 6 and also parallel to the arm shaft 4 if the wrist mechanism 1 is in an elongated condition. A space between the third shaft 7 and the tool receiving shaft 6 is equal to a space between the third shaft 7 and the arm shaft 4. |
