| 摘要 |
The present invention relates to a cable embedded robot having a wrist device embedded with a cable. The wrist device comprises: an arm base, a connecting arm, and a tool arm. A cable installation unit, where a cable penetrates to be installed in a hollow space therein, is formed on the arm base, the connecting arm, and the tool arm. The cable installation unit formed on the arm base comprises a cable guide member guiding a cable and a protection member protecting a cable which penetrates the guide member, and is inserted into a cable installation unit of the connecting arm. A connection driving motor and a tool arm motor is installed in parallel to an opposite side with regard to an arm base axis, as being a center, in a connecting arm. |
