| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem of precision deterioration of positioning control of an operating part due to a flexure caused by the action of a large bending moment on a manipulator arm when an end effector handles a heavy object. SOLUTION: The manipulator fixes on a base part 11 three sets of arms 14 comprising a first link part 15 with one end connected to a rotation axis 12 of a base part 11 and a second link part 17 connected via another rotation axis 16, and supports an operating part 19 with these arms 14. The second link part 17 is connected to the rotation axis 16 and the operating part 19 with universal joints 18a, 18b. A direct acting type driving means 13 comprises a driving axis 13a, and a driving source for driving the movement of the driving axis 13a, and makes the operating part 19 move to a desired position by driving the movement of the driving axis 13a. On this occasion, the operating part 19 is kept in a parallel attitude constantly against a particular plane. Since the load imposed on the operating part 19 acts in the axial direction of the driving axis 13a, a positioning control with high precision is possible without danger of flexure or deformation for the driving axis 13a. COPYRIGHT: (C)2004,JPO
|
