| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To solve such a problem that an operation range of a movable-section is restrained due to the structure of an auxiliary drive mechanism in a parallel robot having the auxiliary drive mechanism for controlling tool posture. <P>SOLUTION: A wrist-section drive mechanism 20 includes a hollow outer holder 44 rotating freely around a first rotation axis 44a; a hollow intermediate holder 46 provided in the outer holder to rotate freely around a second rotation axis 46a orthogonal to the first rotation axis; a hollow inner holder 48 provided in the intermediate holder to rotate freely around a third rotation axis 48a orthogonal to the second rotation axis; a mover 52 rotating and driving the outer holder 44; and a rod-shaped transmission member 54 received in the inner holder linearly movable in a rotation restrained state along a linear-motion axis 54a orthogonal to the third rotation axis. The transmission member 54 that is connected at one end spaced from the inner holder 48 to the wrist section through a universal joint transmits the rotation of the outer holder 44 to the wrist section, and to allow the wrist section to perform rotational motion around a fourth rotation axis orthogonal to the third rotation axis. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
