| 摘要 |
PURPOSE:To make the structure of a 3rd rotating means for transmitting a driving force to a terminal from a 3rd driving source in a simple one with less number of part items, by providing a 3rd driving source at the wrist especially, among 1st-3rd driving sources for driving a wrist base, wrist and terminal respectively. CONSTITUTION:Among 1st-3rd driving sources which generate rotating driving forces for respectively driving a wrist base 3, wrist 4 and terminal 5, 1st and 2nd driving sources 14, 15 for driving the wrist base 3 and wrist 4 are fixed at the rear end of an arm 2, and the 3rd driving source for driving the terminal 5 is fixed at the wrist 4. The structure of a 3rd rotation transmission means related to the terminal 5 and 3rd driving source can thus be simplified, also the number of part items thereof can be reduced. |
