| 摘要 |
An industrial robot provides precision control of a rotating axis without generating fluctuations in rotating axis direction during movement of the rotating axis due to positional movements of first and second robot arms in which the first arm is supported by a base as a center of rotation and the second arm is supported at its mid-point by the other end of the first arm. The robot includes a rotating axis, a second arm driving unit for rotating the second arm and installed at the center of rotation so that rotation relative to the base is prevented, a core shaft for supporting the first and second arms in such a way that the first and second arms can rotate relative to each other, a core shaft angle sustaining mechanism for sustaining the core shaft at constant angle of rotation relative to the base, a rotating base axis driving motor for driving the rotating axis, and a rotating axis angle driving sustaining mechanism for sustaining the angle of rotation of the rotating axis driving motor at the same value as the angle of rotation of the core shaft. |
