| 摘要 |
<p>An articulated arm transfer device (10) employs a rhomboidal link structure defined by two separated pairs of forearms (12, 13, 14, 15) pivotally joined at the elbows and at the wrists. Each wrist supports a holding means (25, 25') and the elbows are driven in mirror-image semicircular paths by a pair of upper arms (17, 18) which are superimposed alternately under each pair of forearms as the upper arms are rotated about mutually adjacent shoulder joints. The motion is such that at any time one holding means (25, 25') is moving rapidly between an extended position and a park position while the other holding means (25, 25') is slowly traveling a negligible distance between a park position and a retracted position.</p> |
