To provide a robot arm structure capable of conducting non-radial straight line motion and three-dimensional motion.
The robot arm structure 10 has at least a link 1 and a link 2, and motion is provided about a primary axis (z1) at the proximal end portion of the proximalmost of the link 1. R motion proceeds radially from the primary axis, whereby the distal end portion of the distalmost of a link 3 can be moved in a radially extending straight line. An end effector 18 is pivotally mounted for rotation relative to the distal end portion of the distalmost link 3 about an end effecter axis which is parallel to the primary axis. The structure 10 is improved by adding one or more of a yaw motor, a pitch motor and a roll motor for rotating the wrist of the arm about the respective axis. A sensor array senses one or more of r, , z, yaw, pitch and roll motions, and a computer monitors and controls one or more of r, , z, yaw, pitch, and roll motions.
| JP6396797 | Board transfer device |
| JPS57189786 | INDUSTRIAL ROBOT |
TODOROV ALEXANDER
KOSTOV LUBO
PETKOV PETER
TOTEV VALENTIN
BONEV EUGENE
SOTIROV ZLATKO
| JPH04298059A | 1992-10-21 | |||
| JPH04295704A | 1992-10-20 | |||
| JPH07240366A | 1995-09-12 | |||
| JPH0846015A | 1996-02-16 | |||
| JPH07299775A | 1995-11-14 | |||
| JPH07227791A | 1995-08-29 | |||
| JPH0536809A | 1993-02-12 | |||
| JPH07326654A | 1995-12-12 | |||
| JPS6251237A | 1987-03-05 | |||
| JPS61244475A | 1986-10-30 | |||
| JPH0669317A | 1994-03-11 | |||
| JPH0871965A | 1996-03-19 | |||
| JPH04298059A | 1992-10-21 | |||
| JPH06211320A | 1994-08-02 | |||
| JPH05243363A | 1993-09-21 | |||
| JPH0536811A | 1993-02-12 | |||
| JPH06318628A | 1994-11-15 | |||
| JPH04295704A | 1992-10-20 | |||
| JPH07240366A | 1995-09-12 | |||
| JPH0846015A | 1996-02-16 |
Fumiaki Otsuka
Shishido Kaichi
Nobuo Ogawa
Village shrine Atsuo
Next Patent: ROBOT DEVICE AND ITS CONTROL METHOD