| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot arm device which is of low cost and can be reduced in weight. <P>SOLUTION: A robot arm device 1 includes a robot arm 2 in which a base body 4 and a link member 3 are connected by a first joint mechanism J<SB POS="POST">1</SB>, and the link member 3 and an end effector E are connected by a second joint mechanism J<SB POS="POST">2</SB>. The robot arm device 1 includes a first force detector F<SB POS="POST">1</SB>that detects a force acting on the base body 4 from the robot arm 2. An open part 4b for a control wiring 11 of the robot arm 2 is formed at an end face 4a of the base end part of the base body 4. Around the open part 4b, three or more force detectors F<SB POS="POST">1-i</SB>are arranged, as a first force detector F<SB POS="POST">1</SB>, to be separated one another. <P>COPYRIGHT: (C)2013,JPO&INPIT |
