| 摘要 |
<p>A drive mechanism for an industrial robot arm, having a simple drive system, in which an extracting part of an umbilical member (54) for a work tool (32) is suitably positioned and a control device (34) for the work tool is positioned on the forearm so as not to project out, while the basic configuration of the robot arm may be similar to the prior art. A motor for a first wrist element (22) is positioned in the area between a forearm and an upper arm such that the rotation axis of the motor is perpendicular to a second axis. Further, the motor is positioned at the point shifted toward the wrist element or a front end of the forearm, in relation to a first axis, along the longitudinal direction of the forearm. Therefore, a wide area for a wire feeder may be obtained above a bottom portion of the forearm.</p> |
