| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a wrist mechanism having a more compact structure, being simpler, and having higher reliability. <P>SOLUTION: An articulated robot wrist comprises: a first body 12 having first and second ends, the first end of the first body 12 being for mounting on a robot component which is rotatable around a first axis IV; a second body 14 having first and second ends, the first end of the second body 14 being rotatably mounted on the second end of the first body 12 around a second axis V inclined with respect to the first axis IV; and a third body 16 having first and second ends, the first end of the third body 16 being rotatably mounted on the second end of the second body 14 around a third axis VI inclined with respect to the second axis V. Here, the first and third axes IV, VI form an angle substantially of 90 degrees with respect to the second axis V, wherein in at least one posture of the robot wrist, the first and third axes IV, VI are substantially aligned with each other. <P>COPYRIGHT: (C)2012,JPO&INPIT |
