| 摘要 |
PROBLEM TO BE SOLVED: To provide a double arm capable of minimizing a turning operation occupying area regardless of longitudinal length of end effecters required for handling work, and a robot having it. SOLUTION: This double arm comprises a first arm 20 and a second arm 30. The first arm 20 and the second arm 30 have at least first links and second links 21B and 31B, and the first link of the first arm 20 and the first link of the second arm 30 are integrated to form a rotary member 72. The second link 21B of the first arm 20 and the second link 31B of the second arm 30 are turnably mounted to respective first links in a positional relation causing no interference. Angles formed with respective second links 21B and 31B and respective first links in a stand-by state are adjusted so as to minimize the rotary operation occupying area about a rotary axis of respective end effecters mounted to the first arm 20 and the second arm 30. |
