| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot for operating products in a tree-dimensional space allowing volume of a space accessible by a gripper to increase relative to the length of an arm, in other words, allowing the length of the arm to decrease relative to the same accessible volume. SOLUTION: This robot has a base 1, and three arms 9 are pivotably supported on the base so as to pivot about three pivot axes 3 arranged in a common axial plane 4. Three pivot axes form a triangle with three corners. Each arm is mounted on the axis 2 of a servomotor 6. Three connection link mechanisms 19 connects the free ends of the arms 9 to a carrier that can move in the full linear three-dimensional space but is prevented from rotating about full rotation three-dimensional axes. A nesting fourth link mechanism connects the gripper 30 rotatably supported on the carrier 22 to a fourth servomotor 48 fixed to the base 1 through two couplings 42, 46. |
