FIRST ARM STRUCTURE OF HORIZONTALLY ARTICULATED ROBOT.

摘要

A horizontally articulated robot has a fixed stand post on arm which is rotatable around a vertical axis, a second arm rotatable around another vertical axis and a hand which is movable along a vertical axis. The first arm has a direct driving motor, an electro-magnetic brake and a rotary encoder all of which are concentrically disposed close to one another around its rotational axis. At the other end, the first arm has another direct driving motor, an electromagnetic brake and a rotary encoder concentrically disposed around the rotational axis of the second arm. Wiring and plumbing are provided through hollow shafts.