| 摘要 |
PCT No. PCT/JP92/00004 Sec. 371 Date Aug. 24, 1992 Sec. 102(e) Date Aug. 24, 1992 PCT Filed Jan. 8, 1992 PCT Pub. No. WO92/12283 PCT Pub. Date Jul. 23, 1992.In a sewing operation robot (1), a simple harmonic motion device (2) is mounted on a wrist portion (12) thereof, and a sewing machine (5) is fixed on a sliding portion (3) of the simple harmonic motion device (2) to position the sewing machine (5) arbitrarily in a three-dimensional space and to operate the sewing machine (5) in an inching mode. A counter weight having the same weight as that of the sewing machine (5) is provided on the simple harmonic motion device (2) to prevent vibrations from occurring. Since the sewing machine is operated in the inching mode without inching the entire sewing operation robot, even a robot of low rigidity can perform sewing operations without causing friction between the sewing machine and the cloth and, further, a compact lightweight sewing operation robot can be provided.
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