| 摘要 |
PURPOSE: An articulated robot is provided to perform the rectilinear motion of a hand formed at an end effector by transmitting driving force with a bevel gear set and a shaft instead of a timing belt. CONSTITUTION: A first arm(412) is rotatably connected to a second arm(428). A rotary shaft of the first arm is rotatably connected to a base. A hand is rotatably connected to an uppermost arm. A rotation driving unit is installed in the base, and rotates the arms and the hand. A drive transmission unit includes bevel gear sets(414,418,420,424) and shafts(416,422), and transmits the rotary power of the rotation driving unit to the arms and the hand.
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