| 摘要 |
PROBLEM TO BE SOLVED: To improve rigidity of a transmission system, enable high speed operation and reduce the size and weight. SOLUTION: This arm driving mechanism includes a reducer 31 disposed in a first joint J1 to turn a first arm 1, a reducer 32 disposed in a second joint J2 to turn a second arm 2, a timing pulley for transmitting power from a motor provided on the base to input shafts of the reducers 31, 32, a power transmission mechanism such as a timing belt or the like, and a link mechanism for holding the attitude of a finger 7 rotatably supported on the second arm 2 by a third joint J3 to a base 8 regardless of the movement of the first arm 1 and the second arm 2.
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