| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot arm mechanism capable of structurally eliminating or reducing a singular point attitude within a movable range.SOLUTION: A robot arm mechanism has a plurality of joint sections J1 to J6. The first joint section J1 out of the plurality of joint sections is a rotational joint about a first axis RA1, the second joint section J2 is a rotational joint about a second axis RA2, and the third joint section J3 is a linear motion joint about a third axis RA3. The first, second, and third joint sections J1, J2 and J3 are disposed in order from a base. The first joint section J1 is disposed so that the first axis RA1 is perpendicular to the base. The second joint section J2 is offset from the first joint section J1 in relation to the direction of the first axis RA1 (Z-axis direction) and the direction perpendicular to the first axis RA1 (Y-axis direction).SELECTED DRAWING: Figure 4 |
