| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a wrist mechanism having a more compact and simpler structure. <P>SOLUTION: An articulated robot wrist 10, comprises: a first body 12 having first and second ends, the first end of the first body 12 being intended to be mounted on a robot component that 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 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 are both substantially orthogonal to the second axis V, wherein in at least one position of the robot wrist, the first and third axes IV, VI are substantially aligned with each other. <P>COPYRIGHT: (C)2012,JPO&INPIT |
