| 摘要 |
A robot (10, 100) according to an embodiment includes a lower arm (13), an upper arm (14), an actuator (35, 36), and a brake (50). The upper arm (13) is supported by the lower arm (13), and includes a bottom portion (141) having a through hole (142) and an arm portion (140) extending from the bottom portion (141) avoiding the through hole (142). The actuator (35, 36) includes an output shaft (361) and a rotor (362) coupled thereto. The brake (50) is installed on the end surface of the actuator (35, 36) opposite to the side from which the output shaft (361) projects and acts on a part of the rotor (362) to brake the actuator (35, 36). Virtual space (VS) is obtained by parallel displacement of a region corresponding to the through hole (142) in the extending direction of the arm portion (140). The actuator (35, 36) is installed on the arm portion (140) on the side of the virtual space (VS), with the posture of the actuator being such that the virtual space (VS) and the brake (50) do not overlap each other. |
