| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot that can decrease individual differences. <P>SOLUTION: The robot 100 includes: an arm support 2; a lower arm 3 coupled to the arm support 2 via a joint part; a speed reducer 7b provided in the joint part, coupling the lower arm 3 to the arm support 2 turnably wherein an eccentric gear 77a (77b) rotates while moving an engagement position thereof; and positioning parts 21b, 71d, 72e and 3b which can align the speed reducer 7b so that a rotation angle position of the speed reducer 7b is positioned in a predetermined rotation angle position when a relative rotation position of the lower arm 3 with respective to the arm support 2 is positioned in a predetermined position. <P>COPYRIGHT: (C)2012,JPO&INPIT |
