| 摘要 |
Each arm has at least one rotary joint (1), which is motor-driven, and the position of which is fed to a computer having associated computer program. The motor can be operated electrically, hydraulically or pneumatically. Motor driven rotary joint (1) has at least one hollow shaft motor (2) and at least one rotational transmitter (3). The motor driven joint can have at lest one motor (4) and at least one hollow shaft rotational transmitter (5). Facility for driving rotary joint is arranged inside at least one arm (6).
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