| 摘要 |
<p>Arm driving mechanism in an industrial articulated robot, wherein the rear end of a first arm (12) is controllably rotatably supported by a fixing member (10, 33, 35) nonrotatably fixed on a swinging base (11b) swingable about a longitudinal axis through a W-axis driving motor (M2), a support member (30, 34, 36) is rotatably supported on the forward end of the first arm (12), the proximal end of a second arm (13) is controllably rotatably supported on the support member (30, 34, 36) through a U-axis driving motor (M3), the fixing member (10, 33, 35) and the support member (30, 34, 36) are connected to each other so as to form two link elements of a parallel link mechanism, the first arm is driven by the W-axis driving motor (M2) having a low output, and the second arm is driven by the U-axis driving motor (M3) in such a manner that the second arm has a high degree of freedom in swinging operations.</p> |
