Joint mechanism of manipulator

摘要

A joint mechanism of a manipulator, according to the present invention, consists of a first joint having its rotating shaft aligned with the Z-axis in the X-Y-Z Cartesian coordinate system established at a desired position in a working space, a second joint connected to the rotating shaft of the first joint and having its rotating shaft positioned within the X-Y coordinate plane, a third joint, connected to the rotating shaft of the second joint and having its rotating shaft aligned with the vector passing through the origin of the Cartesian coordinate system, and an arm assembly connected to the rotating shaft of the third joint and comprising a link mechanism which is driven so that a wrist connected to said arm assembly may be always moved on the prolongation line of the vector, to thereby provide a simplified joint mechanism of a manipulator having a redundant degree of freedom of the posture completely independent to the position of the wrist.