| 摘要 |
PURPOSE: A joint-type robot wrist is provided to obtain the optimal controllability of a wrist by arranging various bodies within a wide range of a reciprocating motion. CONSTITUTION: A joint-type robot wrist(10) comprises first, second, and third bodies(12,14,16). A first end portion(12') of the first body is installed in a robot element capable of rotating around a first axis(IV). A first end portion(14') of the second body is installed in a second end portion(32) of the first body to be rotated around a second axis(V) inclined for the first axis. A first end portion of the third body is installed in a second end portion(24) of the second body to be rotated around a third axis(V) inclined for the second axis. An elbow-shaped portion(18) of the first body is aligned on the first axis and a first opening of the elbow-shaped portion is formed in a base while the wrist is installed. |
