| 摘要 |
PROBLEM TO BE SOLVED: To provide an expansion arm carrying out stable actions without using a pulley and belt. SOLUTION: A first arm element 20 rotates around a first rotation center 10, and a second rotation center 11 is defined. A second arm element 60 rotates around the second rotation center, and a third rotation center 12 is defined. One of a pair of sides in parallel with each other defined by a first parallel linkage 21 can rotate around the first rotation center, and the other can rotate around the second rotation center. One of a pair of sides in parallel with each other defined by a second parallel linkage 61 can rotate around the second rotation center, and the other can rotate around the third rotation center. In a state of an indirect mechanism 40 fixing an attitude of a link passing through the first rotation center of the first parallel linkage, when the first arm element is rotated by just a first angle, the second arm element is rotated by just an angle half of the first angle in an opposite direction of the first arm element with respect to the first arm element. COPYRIGHT: (C)2008,JPO&INPIT
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