| 摘要 |
PROBLEM TO BE SOLVED: To provide arm mechanism that can improve the accuracy of a hand tip position and generating force because of no interference between translational motion and rotary motion of a robot hand and can improve work efficiency and work accuracy by enabling an operator to easily recognize the position and attitude of a work object and the hand because of the hand tip always pointing to a work point. SOLUTION: This arm mechanism has rotating actuators 13a, 13b, 13c by axes having an absolute coordinate system on a base and a coordinate system 9 at one point on an end effector 5 and driving rotation around each axis of the end effector 5, a translation actuator 17 driving translation of a work object 3 of a uniaxial direction, attitude holding mechanism 18 connected to translation control drive mechanism 10 so as to hold the attitude of the work object on the absolute coordinate system constant, and actuators 24a, 24b performing translation within a horizontal plane of a table. |
