| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an articulated robot capable of regulating the preload of an ultra-sonic motor properly using a small and simple mechanism. <P>SOLUTION: The articulated robot is equipped with a stator 1 configured so that piezoelectric elements 11, 12, 13, 14 and a stator flange 4 with its peripheral end overhung are laminated and a hollow hole 1a is formed penetrating through the elements 11, 12, 13, 14 and the flange 4 in one string and having an opening in the center of the both end face, a rotor 2 placed on the vibratory end face of the stator 1 and furnished with a through hole 2a penetrating in the extension of the hollow hole 1a in the stator 1, and a wire 3 threaded through the hollow hole 1a and the through hole 2a in series and having two ends fixed to and tightened over two fixing members confronting each other in such a way as capable of transmitting the tension to the stator 1 and the rotor 2, respectively, in cooperation. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
