| 摘要 |
The greater part of the laser beam's transmission path lies in the casing parts of the robot, especially in the lower arm and upper arm pivot carriers (11,15). The laser beam deflection devices (17,19), especially mirrors, lie inside the casing of the robot. At least the lower arm and upper arm axes of rotation (10,14) are coaxial parallel to one another. Part of the laser beam's path lies along the upper arm rotation axis in the upper arm pivot carrier and another part lies along the lower arm axis of rotation. A further part leads to the tool-carrying head (21).
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