| 摘要 |
PCT No. PCT/JP88/00684 Sec. 371 Date Mar. 6, 1989 Sec. 102(e) Date Mar. 6, 1989 PCT Filed Jul. 7, 1988 PCT Pub. No. WO89/00095 PCT Pub. Date Jan. 12, 1989.This invention relates to an articulated robot comprising at least two control arms (4), (7), and two speed reducers provided at articulated portions of the two control arms (4), (7) on the same axis in opposed relation to each other. The two speed reducers comprises first and second harmonic drive speed reducers which include a common circular spline (60) fixedly secured to the articulated portion of one of the control arms (4), (7), and a bracket (40), (50) mounted on one end of the common circular spline (60) for angular movement relative to the common circular spline (60) and connected to the articulated portion of the control arm (4), (7). The number of component parts can be reduced, the assembling operation can be facilitated, a stable high accuracy can be maintained, and an inexpensive articulated robot can be obtained. |
