| 摘要 |
PROBLEM TO BE SOLVED: To match rotating centers with 3-degree of freedom to one point with rotating axes orthogonally crossed each other. SOLUTION: Universal joints UJ1 and UJ2 with 3-degree of freedom for performing the vertical swing operation D1 and lateral swing operation D2 based on a linear motion are connected to the upper right and left ends of a wrist part at the tip H1 of an arm. A universal joint UJ3 with 2-degree of freedom for performing the twisting rotation D3 of the tip H1 of the arm is connected to the wrist part at the tip H1 of the arm used as the center of the 3-degree of freedom of a wrist. COPYRIGHT: (C)2003,JPO |
