| 摘要 |
PROBLEM TO BE SOLVED: To provide a 5 degrees of freedom joint mechanism of less inertial force and light weight. SOLUTION: A differential rotation component and another rotation component obtained by a power transmission means are inputted into a differential drive mechanism provided with a function of the differential drive mechanism, two differential drive mechanisms to output one differential rotation component perpendicular to the differential rotation component are provided, and input shaft directions of the power transmission means for driving rotation in three directions are provided in the same direction as a first differential drive mechanism input shaft.
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