| 摘要 |
PROBLEM TO BE SOLVED: To provide an arm body structure of a human body type working robot, which can ensure smooth operating ability of the arm body by eliminating generation of the specific point state of a shoulder joint as much as possible at the time of ordinary operation through the arm body of the human body type robot. SOLUTION: The position and posture of the first to third joints 11, 13, 15 of a shoulder joint 5, and the position of the arm joint 6 to the third joint 15 are set so that the elbow joint 6 may be above the horizontal surface S which passes through the intersection of respective shafts 10, 12, 14 of the first to third joints 11, 13, 15 of the shoulder joint 5, under such states as the shoulder joint 5 is operated in a specific point state of the shoulder joint 5 which makes the first shaft 10 of the first joint 11 and the third shaft 14 of the third joint 15 constituting the shoulder joint 5 coaxial to each other, and as the elbow joint 6 is positioned at the side of a main body 1. |
