Title:
ROBOT ARM OF INDUSTRIAL ROBOT
Document Type and Number:
WIPO Patent Application WO/1988/003856
Kind Code:
A1
Abstract:
Bendable robot arm of an industrial robot for accomplishing one motion pattern having high motion capacity, reaching capacity and high precision by relatively small turning motion and relatively large parallel motion. It has cylindrical arm portions (14, 15, 16) capable of being mutually connected flexibly through each joint and each arm portion has one upper arm (14), at least one intermediate arm (15) and a lower arm (16). A joint surface (21) which is inclined to a longitudinal axis (29) of the arm portion is formed on the arm portion belonging to a certain joint. The joint shaft (22) of this joint is disposed at right angles to each joint surface (21). Each arm portion can rotate independently around the joint shaft (22) irrespective of one or a plurality of arms portions adjacent thereto. The inclined joint surfaces positioned at both ends of the intermediate arm are formed in such a manner as to cross each other outside the external boundary of the intermediate arm.
Inventors:
LARSSON OVE (SE)
Application Number:
PCT/JP1987/000913
Publication Date:
June 02, 1988
Filing Date:
November 26, 1987
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
International Classes:
B25J9/04; B25J17/02; B25J19/00; (IPC1-7): B25J9/06
Foreign References:
| JPS61131890A | 1986-06-19 | |||
| JPS5939195U | 1984-03-13 | |||
| JPS594276B2 | 1984-01-28 |
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