| 摘要 |
<p>This robot is of the type comprising a first training arm (13) having a tool holder (22) carried tiltably at its end, a second intermediate arm (12) articulated to the training arm (13) and to a base, a linkage enabling the tool holder (22) to maintain a constant orientation as the arm (12, 13) angles change, the improvement residing essentially in that the linkage includes a rod (23) cooperating with a ring gear (25) which, through a shaft (28) provided with bevel gears (27-29), transfers the angular motion to the tool holder (22) to compensate for its orientation changes.</p> |
