| 摘要 |
PROBLEM TO BE SOLVED: To provide an articulated robot having greatly more improved positioning accuracy than usual and a less change in link output if a change in the rotating angle of each link occurs. SOLUTION: The articulated robot comprises a first link 11 with one end 11a supported on a base 1 in a rotatable manner, a first driving part 31 arranged for rotationally driving the first link 11, a second link 12 with one end 12a supported at the other end 11b of the first link 11 in a rotatable manner, a second driving part 32 arranged for rotationally driving the second link 12, an auxiliary driving part 33 arranged on the base 1, and a rotary torque transmission mechanism 40 via which the auxiliary driving part 33 is connected to one end 12a of the second link 12.
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