To eliminate backlash between a belt and a pulley or deflection of the belt and perform a positioning with high accuracy.
An arm robot is provided with an arm 51 so that the arm 51 may freely revolve round a fixed pulley 52 provided at one end of the arm 51 and a transmission pulley 53 so that the pulley 53 may freely revolve round the arm 51 at the other end of the arm 51. A belt 54 is stretched between the transmission pulley 53 and the fixed pulley 52, the fixed pulley 52 is relatively revolved by the revolution of the arm 51 and the transmission pulley 53 is revolved because the relative revolution of the fixed pulley 52 is transmitted to the transmission pulley 53 via the belt 54. Two idlers 55 which equally apply tension to both of the two belts 54 stretched between the transmission pulley 53 and the fixed pulley 52 are provided.
INADA TETSUAKI
SHINO KAZUHIRO
YASUI TAKESHI
