| 摘要 |
<p>An end effecter is positioned with high precision by stabilizing its attitude. Included are arms 101 each having a pair of rods 121 arranged in parallel, a bracket 3 having the end effecter attached thereto and retained by the pair of rods 121, ball joints 41 and 42 each including a first joint element 411 having a ball 413 and displaceably connecting the bracket 3 with the arm 101 and a second joint element 412 having a socket 414 for retaining the ball 413, a connecting member 2 for connecting the pair of parallel rods 121 together and restricting rotation of the rods 121 about an axis that is parallel to the longitudinal direction thereof, and a biasing member 24 for providing a biasing force for retaining the ball 413 in the socket 414.</p> |
