| 摘要 |
PURPOSE: To reduce a capacity of a motor and provide a small-sized light-weight motor by adding the reference tensile force to an operating tool, changing the tensile force of an opposite operating tool on a diagonal line, to the reference tensile force, and mounting a motor only for curving a flexible arm robot by the amount of this change. CONSTITUTION: The uniform reference tensile force is added to four wireshaped operating tools 3a-3d by the load members 7, and a number of elements 2a-2n of a flexible arm robot through which these operating tools 3a-3d are penetrated, and which are arranged in series to each other, are energized in an upright state on a base 1. A pinion 5a is rotated by a motor 8a in this condition, a rack 4a of both racks 4a, 4c engaged with this pinion 5a is moved upward and the other rack 4c is moved downward. As a result, the tensile force of a operating tool 3a of a pair of operating tools opposite to each other on a diagonal line, is reduced to be lower than the reference tensile force, the tensile force of the other operating tool 3c is increased to be higher than the reference tensile force, and a number of elements 2a-2n are curved in a desired direction. |
