| 摘要 |
<p>An articulated manipulator for driving first and second arms by the same motor with the attitude of the second arm not restricted, comprising a fixing base (1), a first reduction gear (9) fixed to the fixing base, a motor (10), a first arm (2) coupled to the output part of the first reduction gear (9), a first auxiliary link (7) turnably supported on the tip end of the first arm (2), a second reduction gear (17) fixed to the link (7), a power transmission means (16) for coupling the output shaft (11) of the motor (10) with the input part of the second reduction gear (17), a second arm (3) coupled with the output part of the second reduction gear (17), and a second auxiliary link (8) turnably supported at one end thereof on the tip end of the first auxiliary link (7) and turnably supported at the other end on the fixing base (1), the first arm (2), the first auxiliary link (7), the second auxiliary link (8) and the fixing base (1) constituting a parallelogram link mechanism.</p> |
