| 摘要 |
PROBLEM TO BE SOLVED: To provide a mechanism for preventing change of a relative angle between a specific link and other link, when the specific link is operated by applying tension to a wire.SOLUTION: A robot arm mechanism comprises: a first joint part 120 coupled to an end of a wire 200, and rotating during pull action of the wire; a second joint part 140 coupled to the first joint part by a link; and a rotary board installed so as to freely rotate on the second joint part and a pair of idle rollers disposed so as to always contact the rotary board. The robot arm mechanism further comprises a wire guide in which the wire passes between the idle rollers. |
