| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot which can attain reduction in weight and size of arm elements.SOLUTION: A robot 100 comprises a base 101, and arm parts 120L and 120R and wrist parts 130L and 130R including multi-joint structures. The arm parts 120L and 120R and the wrist parts 130L and 130R include a motor M3 which is provided at upper arm A parts 122L and 122R and generates a rotation driving power to drive upper arm B parts 123L and 123R. The motor M3 comprises: a nearly cylindrical stator 8; a rotor 9 which is rotatably supported relative to the stator 8; a motor shaft 53a which is coupled to the rotor 9; and a nearly cylindrical motor frame 10 which is provided in an outer peripheral side of the stator 8. The motor frame 10 serves as skeleton members of the upper arm A parts 122L and 122R.</p> |
