18-08-2016 дата публикации
Номер: WO2016129624A1
Принадлежит:
Provided is an articulated robot using a link actuation device, said articulated robot having a wide range of movement, being capable of precise, quick operation, having high operational safety, and being suited to use in a work environment in coexistence with a human. This articulated robot (1) has a base unit (2) and an articulated arm (3). In the articulated arm, a plurality of arm portions (11-14) are aligned in series from a base end side to a tip side, and the base unit (2) and the arm portion (11) furthest to the base end side, as well as the adjoining arm portions (11-14) themselves, are connected to each other via joint portions (21-24) so as to be displaceable relative to each other. An end effector (4) is mounted to the arm portion (14) furthest to the tip side. A joint portion (24) comprises a link actuation device that rotates the arm portions (13, 14) on both sides of said joint portion (24) relative to each other around two orthogonal axes, and an orientation control drive ...
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