| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a parallel mechanism capable of improving the layout of air piping for supplying and discharging air to and from an air-driven end effector. Ž<P>SOLUTION: The air piping 36 comprises a first air pipe 40 allowing the air supply/discharge port 13b of a vacuum pad 13 to communicate with the vacuum pad 13 side end of a hollow section 10a formed in a rod 10, the rod 10 in which the hollow section 10a is formed, and a second air pipe 41 allowing communication of the first arm 7 side end of the hollow section 10a formed in the rod 10 and an air pump 50. Consequently, the vacuum pad 13 and the air pump 50 communicate with each other through the first air pipe 40, the hollow section 10a of the rod 10 of the second arm 8, and the second air pipe 41. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
|
