| 摘要 |
PROBLEM TO BE SOLVED: To materialize a structure capable of sufficiently ensuring a rotation angle of an end effector with a simple and compact structure.SOLUTION: A parallel link robot has a rotating portion 103a rotating to a first shaft 105 as an output shaft; and an acceleration rotating mechanism 300 functioning as accelerating means for accelerating rotations of a fourth arm 119 as a transmitting member and transmitting that to the rotating portion 103a. Therefore, it is not necessary to provide a universal joint such as a universal/Cardan joint for rotating an end effector installed to the rotating portion 103a, and a structure is made to be simple and compact. Even if a rotation range of the fourth arm 119 is restricted, the rotating portion 103 is rotated by being accelerated by the acceleration rotating mechanism 300, so that a rotation angle of the end effector installed to the rotating portion 103a can be sufficiently ensured. |
