| 摘要 |
The purpose of the present invention is to provide a robot arm mechanism such that singular postures can be structurally eliminated or reduced within a movable range. This robot arm mechanism has multiple joint parts (J1-J6). Among the multiple joint parts, a first joint part (J1) is a rotary joint centered about a first axis (RA1), a second joint part (J2) is a rotary joint centered about a second axis (RA2), and a third joint part (J3) is a linear motion joint centered about a third axis (RA3). The first, second, and third joint parts (J1, J2, J3) are disposed in this order from a base. The first joint part (J1) is disposed such that the first axis (RA1) is perpendicular to the base. The second joint part (J2) is offset from the first joint part (J1) in the direction of the first axis (RA1) (Z-axis direction) and in a direction perpendicular to the first axis (RA1) (Y-axis direction). |
