RECTILINEAR MOTION MECHANISM OF ROBOT

摘要

PURPOSE:To enable rectilinear motion of a hand without a rectilinear sliding shaft and without changing the posture of the hand by using a space closing link mechanism having oblique rotary shafts. CONSTITUTION:A two-stage pivot joint portion 1 has pivot joints for rotatably retaining oblique two shafts, and a link 2 and a link 4 are connected to the respective pivot joints. The other end of the link 2 is coupled to a two-stage pivot joint of a block 8 of a hand portion through a pivot joint 6 and a link 3, and the other end of the link 4 is similarly coupled to the block 8 of the hand portion through a pivot joint 7 and a link 5. Thus, a space closing link mechanism comprising flat link mechanisms 10, 11 is formed to easily enable rectilinear motion of the hand without changing its posture.