| 摘要 |
PROBLEM TO BE SOLVED: To provide a joint structural body capable of transmitting a driving force without being affected by the movement of a joint and a robot arm provided with the joint structural body. SOLUTION: This structural body is provided with a first parallel link 9-1, a second parallel link 11-1, a first rotary guide pulley 8-1, and a second rotary guide pulley 10-1 having a diameter substantially equal to that of the first rotary guide pulley 8-1. A wire 7-1 is passed around the first rotary guide pulley 8-1, the second rotary guide pulley 10-1 and a second structural body 2 in this order. COPYRIGHT: (C)2006,JPO&NCIPI
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