| 摘要 |
PROBLEM TO BE SOLVED: To eliminate power interference to an end effector caused by the drive of a robot arm, to lighten the robot arm, and to reduce manufacturing cost of a transmission path. SOLUTION: This device is provided with the transmission path 5 for transmitting power the driving the end effector 1 along links 4a and 4b of the robot arm 4 from an end effector driver 2 installed on a robot base 3 side to the end effector 1 supported on a tip of the robot arm 4 supported by the robot base 3. The transmission path 5 is constituted only by a wire 5a and a pulley 5b, and an avoiding mechanism 7 for avoiding the drive of the end effector 1 during the drive of the robot arm 4 is provided between the transmission path 5 and the end effector 1.
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