PURPOSE: To perform machine work without a dynamic parasitic action by arranging a portion having a single degree of freedom to a yoke portion by a torsion bar spring by fitting a machine work assembly in a yoke-shaped portion fixed to an end portion of a robot arm.
CONSTITUTION: A second portion 14 of a support member 2 is arranged between wing portions 7 of a first portion 6 so that lower edge portions 17 of wing portions 18 containing a machine work assembly main body fitting hole 15 are closed by a bolt 16. Blind holes 20 of the wing portions 18 correspond to through holes 19 of the wing portions 7, connecting elements 21 are engaged with the holes 19, 20, and materials of the connecting elements 21 have a mechanical characteristic capable of constituting a torsion bar spring to be fixed by screws 25 to the first portion 6 and the second portion 14. While the first portion 6 is fixed to a robot arm, the second portion 14 carried by the torsion bar spring 21 by carrying a machine work assembly is moved around the axis A by torsion of the torsion bar spring 21 under the stress action to a cutting tool at machine work according to a single degree of freedom. The center of gravity of the second portion 14 and the machine work assembly is placed on the axis A to avoid vibration at machine work.
GII RIENHAARU
JIYANNIBU MARI NIOSHIYU
JIYANNMARI PONTEIE
