| 摘要 |
Important performances of a robot of articulated type include a wide range of operation and an easy maintenance. In order to improve the performances, it is extremely advantageous to arrange an arm in a cantilever manner, in a point where components are difficult to interfere with each other, a point where confined portions of joints are brought to a single location, and so on. Conventionally, however, the following various drawbacks occur. That is, if the arm is arranged in a cantilever manner, moment loads applied to a plurality of bearings forming respectively the rotational joints increase, and an offset occurs between axes of the respective rotational joints so that computation for control becomes complicated. For this reason, the conventional robot, in which the arm is arranged in a cantilever manner, deteriorates in performance as compared with a robot in which an arm is arranged in a straddle manner, in a service life of the robot, easiness in computation of a control device, and so on. It is a principal object of the present invention to provide a robot in which the aforesaid performances contrary to each other, which are conventionally difficult to be compatible with each other, are highly realized. The invention has advantages in a mounting condition of an arm or a wrist mechanism, that is, a connecting condition thereof and arrangement of a plurality of heavy articles, that is, chiefly a plurality of motors. Further, by combination of the above advantages and an advantage of the wrist mechanism or its drive transmission system, the robot is provided which has other advantages principally required for a machine of this kind and which does not appear conventionally.
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