| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot capable of reducing the size of a wrist portion coupled to an arm.SOLUTION: A robot includes: a first actuator driving a second wrist portion coupled to a first wrist portion to rotate; a first rotating body transmitting a drive force of the first actuator to the second wrist portion; a second actuator driving a third wrist portion coupled to the second wrist portion to rotate; and a second rotating body transmitting a drive force of the second actuator to the third wrist portion. The first rotating body is deviated to a position at which the first and second rotating bodies are parallel to each other and do not interfere with each other, and is arranged to overlap with the second rotating body in a rotational axis direction of the second rotating body.</p> |
