| 摘要 |
<p>An industrial robot is disclosed which includes three primary drive units (21, 22, 23) defining three separately controlled axes of movement, and an outer arm assembly (16) having three additional axes of movement. The three primary drive units are interconnected so that the first drive unit (21) defines a vertical axis of movement (A), and the second and third drive units (22,23) define horizontal axes of movement (B) which are coaxial. Also, the three primary drive units (21, 22, 23) each include an electrical stepping motor which has its rotor (40) and stator (42) coaxially disposed about the axis of movement, with each rotor being fixed to an associated output component (13, 38, 32) and the three stators being fixed to an output component (26) which couples the stators together, to thereby eliminate the need for any torque converting drive train between the motor and output components.</p> |
