| 摘要 |
PROBLEM TO BE SOLVED: To preclude generation of a specified value or more of force by generation of sliding in a friction transmission part, for example, even when excessive force is applied onto a robot arm 14, and to preclude a harm from being imparted onto a person. SOLUTION: In the robot mechanism 10, the second and third rotation-driving parts 24, 26 connected by a support shaft 22 with a space are arranged on an upper face of the first rotation-driving part 18 mounted on a base 16 and driven within a horizontal plane by the first friction-driving roller 32 using rotation of the first servo motor 28, the rotation-driving parts are driven within a vertical plane by the second friction-driving roller 38 and the like using rotation of the second servo motor 34 and the like, and the robot arm 14 including a support arm part 42 and a link extension part 44 is attached to the support shaft 22.
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