| 摘要 |
The robot is equipped with a base (11) secured onto a plane (10) of installation. The base is provided with a turning body that is vertical to the plane of installation and that turns about a first axis within a range of nearly 90 degrees toward the right and left, respectively, relative to a reference position of the base. The turning body is rotated about the first axis by a body drive motor (14). The upper arm (16) having a base end and tip is permitted to turn relative to the turning body about a second horizontal axis (W) from a nearly vertical attitude toward the front of the turning body, the base end of the upper arm being coupled to the turning body (12). The front arm (19) having a wrist assembly (20) at the front end is rotatable relative to the end of the upper arm about a third axis (U) which is in parallel with the second axis. The upper arm is provided with an upper arm drive motor which turns the upper arm relative to the turning body about the second axis and with a front arm drive motor which turns the front arm relative to the upper arm about the third axis. The upper arm drive motor and the front arm drive motor are arranged at the back of a first plane (A-A) that includes the second axis and the third axis, so that the rotational axes of these motors are located on a second plane (B-B) that meets at right angles with the second axis. |
