| 摘要 |
PROBLEM TO BE SOLVED: To provide a wire-drive type robot, preventing a wire from dislocating from a pulley. SOLUTION: This robot includes: a one side member 16; the other side member 18 rotatably connected to the one side member 16; wires 30, 31, 32, each one end of which is connected to the other side member 18; actuators 22, 23, 24 connected to the other end parts of the wires 30, 31, 32 to expand and contract the wires 30, 31, 32; pulleys 56, 57, 58 where the intermediate parts of the wires 30, 31, 32 are wrapped to vary the expanding direction of the wires 30, 31, 32; and wire guards 70, 71, 72 for regulating the wires 30, 31, 32 from moving to the counter-pulley side and dislocating from the pulleys 56, 57, 58. COPYRIGHT: (C)2006,JPO&NCIPI
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