| 摘要 |
PURPOSE: A link structure of a direct teaching robot is provided to efficiently improve the degree of freedom by enhancing a link structure for connecting each joint of the robot. CONSTITUTION: A link structure of a direct teaching robot(1) comprises a first link(21), a second link(22), a third link(23), a fourth link(24), a fifth link(25), and a sixth link(26). The first link is formed on the outer periphery of a first driving module. The second link comprises a first driving module connection part and a second driving module receiving part. The third link has a second driving module connection part to which a second driving module is connected. The fourth link has a third driving module connection part to which a third driving module is connected. The fifth link has a fourth driving module connection part to which a fourth driving module(34) is connected. The sixth link has a sixth driving module receiving part formed at right angle to a fifth driving module connection part.
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