| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot which has high continuity of movement of an end effector and high positional accuracy and can be reduced in size.SOLUTION: In a robot, a drive transmission section 50 for rotating a link 80 with respect to a joint 79 by a driving wheel rotating by a drive rotation source via a driving shaft and a driven wheel coupled to the driving wheel via an edgeless power transmission belt is disposed on one lateral surface of the joint 79 serving as an arm member of a distal end of a multi-joint arm, an electrical section 60 including a relay substrate 61 for transmitting driving power and an electrical signal to a driving system of a link 80 side via an FPC 68 serving as a wiring member is installed on the other lateral surface of the joint 79, and the FPC 69 serving as the wiring member connected from a link 78 to a relay substrate 61 with respect to the joint 79 is introduced from an upper side in a FIG. 4 at a coupling portion between the joint 79 and the link 78.</p> |
