ARTICULATED ROBOT.

摘要

A parallel link mechanism is formed by a lower arm (2) supported on a lower base (1) so that the lower arm (2) can be tilted longitudinally, a connecting link (21) extending in parallel with the lower arm (2) and supported on the lower base (1) so that the connecting link (21) can be tilted longitudinally, and an upper base (22) to which the upper end portions of the lower arm (2) and connecting link (21) are connected pivotably. The upper base (22) supports thereon a swing member (3) adapted to be swung horizontally, and an upper arm (4) provided in a position offset from an axis Z of swinging movement of the swing member (3) so that the upper arm (4) can be tilted vertically. Accordingly, the upper and lower arms do not interfere with each other, and the range of working of the upper arm can be increased.