| 摘要 |
PURPOSE: An articulated manipulator using a hollow motor is provided to arrange cables for connecting each assembly using each hollow shaft, thereby minimizing the exposure of a cable outside. CONSTITUTION: An articulated manipulator using a hollow motor (100) includes a main base (10) and shaft assemblies (20,30,40,50,60,70,80). The assemblies are upwardly connected from the center of the main base. The assemblies comprise motors (22,32) for driving shafts, and lattice-shaped links (38,48,58,68) connected to the motors. The assembly of at least the third shaft among the assemblies has the motor partially forming the body of the assembly. At least one link among the links is eccentrically placed from the vertical center of the assembly. At least third motor among the motors is the hollow motor, and a cable wire is placed through a hollow portion of the hollow motor. |
