| 摘要 |
A horizontal articulated robot includes a base, a first arm provided rotatably around a first rotation axis on the base, a second arm provided rotatably around a second rotation axis on the first arm, the second rotation axis being parallel to the first rotation axis, and a main shaft provided in the second arm to be extended in a direction parallel to the second rotation axis. A distance between the second rotation axis and the main shaft is shorter than a length of a straight line connecting the first and the second rotation axes. Additionally, the first arm has a recessed portion formed so as to include a position on a rotation path where a rotation radius around the second rotation axis is equivalent to the distance between the second rotation axis and the main shaft.
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