| 摘要 |
PROBLEM TO BE SOLVED: To provide a man type robot arm having 7 degrees of freedom of which the air cylinder is built in compactly inside an arm. SOLUTION: In this robot arm having 7 degrees of flexibility constituted of a humeral joint 1, a brachial joint 2, an elbow joint 3, a forearm joint 4 and a wrist joint 5, and driven by air pressure, an air cylinder as joint driving actuator is used in common as an endoskeleton structural member for the brachial joint and the forearm joint. COPYRIGHT: (C)2003,JPO
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