| 摘要 |
PROBLEM TO BE SOLVED: To provide a driving mechanism for a robot arm capable of reducing weight and inertial force of a tip part of an arm. SOLUTION: Conventionally, an actuator 22 and a driving part 23 are installed in a connection part 10b in a middle part of a multifunctional arm of the robot. In this driving mechanism for the robot arm, however, the actuator 22 and the driving part 23 are transferred and disposed in an arm of an upper side as shown in the figure 1 (b), and the actuator 22 and the driving part 23 are connected with a rod 30 to transmit power. Similarly, an actuator 24 and a driving part 25 in a connection part 10c of a tip part are also transferred and disposed in an arm of an upper side, and the actuator 24 and the driving part 25 are connected with a rod 31 to transmit power. The weight and the inertial force of the tip part thereof is reduced because the actuators 22 and 24, and the driving parts 23 and 25 are respectively transferred to a shoulder part, in other words, a main body side.
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