| 摘要 |
<p>A joint structure of a robot for performing vertical and lateral swing motions of a hand (8) joined to an arm link (2). The joint structure has a base link (21) as the base body of the arm link (2) on which opposed parts (21a) are formed; a gimbal link (4) having a vertical axis (4a), disposed between the opposed parts (21a), and a lateral axis (4b) that are not in parallel with each other and perform the vertical and lateral swing motions of the hand (8); a main link (5) having one end connected to the lateral axis (4b) of the gimbal link (4) and the other end connected to the hand (8); and a sub-link (6) crossing the main link (5) and having one end connected to the gimbal link (4) and the other end connected to the hand (8) in order to form a four-joint link mechanism (1). Consequently, the joint of the robot can have a wide movable angle.</p> |
