| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot arm capable of preventing certainly the dust from falling to a working space kept at a high degree of pureness by improving an arm interlocking mechanism. SOLUTION: The robot arm has an attitude holding mechanism 220 to hold the attitude of a hand and including one four-joint mechanism structured so that a first and a second link consisting of a pair of equally long links having a specified length ratio are coupled in such an arrangement that the other link rotates reversely at the two ends of each link and either of the first and second links is formed from a hand 213 between a pair of rotational centers K and L of the forefront arm part and another four-joint mechanism structured so that a third and a fourth link consisting of a pair of equally long links having a specified length ratio are coupled in such an arrangement that the other link rotates reversely at the two ends of each link and either of the third and fourth links is coupled rigidly with the hand on the same straight line as the rotational centers K and L of the forefront arm part, in which the specific links of the two four-joint mechanisms are coupled together rigidly so that the specific inter-link pinch angle of the one four-joint mechanism is identical to that of the other four-joint mechanism. COPYRIGHT: (C)2006,JPO&NCIPI
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