| 摘要 |
PURPOSE: To reduce the load of a servo motor for driving a joint shaft related to vertical action by making the sum of moment generated by the action of gravity around the joint shaft related to vertical action, approximate to zero using essential elements constituting an industrial robot. CONSTITUTION: Servo motors 9, 10, 12, 20 for respectively drivingα,β,γshafts related to the rotation and a second joint shaft U-shaft related to action in the vertical direction, for a hand part are arranged behind the rotation center G of the U-shaft. Aβ-axis drive shaft 7 is formed in hollow structure, and anα-axis drive shaft 6 is provided inside to reduce the total weight of an arm 5. The sum of moment around the rotational center G of the U-shaft generated by the action of gravity is therefore approximate to zero. Load generated at the time of the U-shaft driving servo motor 20 driving the U-shaft is statically only moment generated by gravity acting upon an attachment mounted to a hand part at the tip of the arm 5.
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