| 摘要 |
PURPOSE: A manipulator for a robot with four joints and engagement of four joint links is provided to move the weight of the four axes links to a supporter side to reduce the driving torque load. CONSTITUTION: A manipulator for a robot with four joints is composed of a base(150) supported on the floor or wall to be a reference point, a first joint(100) for performing the linear movement and rotational movement with respect to the base(150), a second joint(200) being pivotable as the sliding movement of a second sliding link is transferred to respective pivotable links, a third joint(300) for rotating a 31st link(31) by transferring the sliding movement of a third sliding link(3) to respective pivotable links, a fourth joint(400) for rotating a 41st link(41) by transferring the sliding movement of the fourth sliding link(4) to respective pivotable links, and a shaft member engaged with the 41st link of the fourth joint to be pivotable by the 41st link(41).
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