| 摘要 |
PROBLEM TO BE SOLVED: To align a spline phase of a spline shaft and a spline phase of a spline hole with a simple structure and simple control.SOLUTION: An end effector 22 includes: a gripping part 24 to grip a shaft-shaped workpiece 100; a holding part 26 that is secured to an arm 20 of an articulated robot 12 and holds the gripping part 24 so as to be linearly movable; and elastic members 28 and 29 disposed between the gripping part 24 and the holding part 26, which are extended or contracted as the gripping part 24 linearly moves with respect to the holding part 26, and cause the gripping part 24 to exert a restoring force according to the extension or contraction of the elastic members 28 and 29. |
