| 摘要 |
PROBLEM TO BE SOLVED: To provide a wrist device of a robot, having a rotation axis and two rotation axes orthogonal to each other, three axes in total, small-sized including a cable wire, especially reduced in the radial size of the wrist shaft, and smart in appearance. SOLUTION: Components such as an actuator of a hollow structure, a driving motor, a speed reducer, a pulley and a belt are disposed at optimum, the cable is wired in a passage having a small cable movable region due to shaft operation, and an outline functioning as a clamp and a guide for the cable adopts a circular or a spherical frame or cover. COPYRIGHT: (C)2006,JPO&NCIPI
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