WO2016068106A1 - ロボットアーム機構 - Google Patents
ロボットアーム機構 Download PDFInfo
- Publication number
- WO2016068106A1 WO2016068106A1 PCT/JP2015/080180 JP2015080180W WO2016068106A1 WO 2016068106 A1 WO2016068106 A1 WO 2016068106A1 JP 2015080180 W JP2015080180 W JP 2015080180W WO 2016068106 A1 WO2016068106 A1 WO 2016068106A1
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- joint portion
- axis
- joint
- respect
- offset
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
Definitions
- the embodiment of the present invention relates to a robot arm mechanism.
- FIG. 13 shows a conventional vertical articulated arm mechanism.
- the vertical multi-joint arm mechanism is required to have three degrees of freedom (x, y, z) in terms of position and three degrees of freedom ( ⁇ , ⁇ , ⁇ ) in terms of posture, and is generally a rotational joint J1 called the root three axes. , J2, J3 and the rotary joints J4, J5, J6 called the wrist three axes.
- a torsional joint is applied to the joints J1, J4, and J6, and a bending joint is applied to the joints J2, J3, and J5.
- the rotational joints RA1, RA4, and RA6 of the torsional joints J1, J4, and J6 are coaxial by setting the bending joints J2, J3, and J5 to zero degrees.
- the rotation angles of these torsional joints J1, J4, J6 cannot be determined uniquely.
- This situation also occurs in a situation where at least two torsional joints are coaxial.
- the intersections of the rotational axes RA4, RA5, RA6 of the joint portions J4, J5, J6 for the wrist three axes are the torsional joint portion J1 forming the arm base.
- the purpose is to provide a robot arm mechanism that can eliminate or reduce the singular point posture within the movable range structurally.
- the robot arm mechanism has a plurality of joint portions.
- the first joint portion is a rotary joint centered on the first axis
- the second joint portion is a rotary joint centered on the second axis
- the third joint portion is centered on the third axis. It is a direct acting joint.
- the first, second, and third joints are arranged in order from the base.
- the first joint portion is disposed such that the first axis is perpendicular to the base.
- the second joint is offset relative to the first joint with respect to the direction of the first axis and the direction perpendicular to the first axis.
- FIG. 1 is an external perspective view of a robot arm mechanism according to the present embodiment.
- FIG. 2 is a perspective view showing the internal structure of the robot arm mechanism of FIG.
- FIG. 3 is a view of the internal structure of the robot arm mechanism of FIG. 1 as viewed from the cross-sectional direction.
- FIG. 4 is a diagram showing the robot arm mechanism of FIG.
- FIG. 5 is a diagram showing the three-axis configuration (RRP) of the robot arm mechanism according to the present embodiment in graphical symbols.
- FIG. 6A is a diagram showing a three-axis configuration (PRR) of the root of the robot arm mechanism according to the present embodiment in a graphical representation.
- PRR three-axis configuration
- FIG. 6B is a diagram showing the configuration (PRR) of the root three axes of the robot arm mechanism according to the present embodiment in a pictorial representation.
- FIG. 7A is a diagram showing a three-axis configuration (PRR) of the robot arm mechanism according to the present embodiment in graphical symbol representation.
- FIG. 7B is a diagram showing the configuration (PRR) of the root three axes of the robot arm mechanism according to the present embodiment in graphic symbol representation.
- FIG. 8A is a diagram showing a three-axis configuration (RPR) of the robot arm mechanism according to the present embodiment in graphic symbol representation.
- FIG. 8B is a diagram illustrating a three-axis configuration (RPR) of the robot arm mechanism according to the present embodiment in a graphical representation.
- FIG. 9A is a diagram illustrating a three-axis configuration (RPR) of the robot arm mechanism according to the present embodiment in a graphical representation.
- FIG. 9B is a diagram showing a three-axis configuration (RPR) of the robot arm mechanism according to the present embodiment in graphic symbol representation.
- FIG. 10 is a diagram showing a three-axis configuration (RRR) of the robot arm mechanism according to the present embodiment in a graphical representation.
- FIG. 11 is a diagram showing the configuration of the wrist three axes of the robot arm mechanism according to the present embodiment in graphical symbols.
- FIG. 12 is a diagram showing an example of a combined configuration of the base three axes and the wrist three axes of the robot arm mechanism according to the present embodiment in graphic symbol representation.
- FIG. 13 is a diagram showing a conventional typical vertical articulated robot arm mechanism in graphical symbols.
- FIG. 14 shows a conventional typical singular point posture.
- FIG. 1 is an external perspective view of the robot arm mechanism according to the present embodiment. 2 and 3 show the internal structure of the robot arm mechanism of FIG. FIG. 4 shows the robot arm mechanism of FIG.
- the robot arm mechanism has a substantially cylindrical base 1 and an arm 2 connected to the base 1.
- a hand effector 3 called an end effector is attached to the tip of the robot arm unit 2.
- a hand unit capable of gripping an object is illustrated as the hand effector 3.
- the hand effector 3 is not limited to the hand unit, and may be another tool, a camera, or a display.
- An adapter that can be replaced with any kind of hand effector 3 may be provided at the tip of the robot arm unit 2.
- the robot arm section 2 has a plurality of, here, six joint sections J1, J2, J3, J4, J5, and J6.
- the plurality of joint portions J1, J2, J3, J4, J5, and J6 are sequentially arranged from the base portion 1.
- the first, second, and third axes RA1, RA2, and RA3 are referred to as root three axes
- the fourth, fifth, and sixth axes RA4, RA5, and RA6 are referred to as wrist three axes.
- At least one of the joint portions J1, J2, and J3 constituting the base three axes is a linear motion joint.
- the third joint portion J3 is configured as a linear motion joint, particularly a joint portion having a relatively long expansion / contraction distance.
- the first joint portion J1 is a torsion joint centered on the first rotation axis RA1 that is supported, for example, perpendicularly to the base surface.
- the second joint portion J2 is a bending joint centered on the second rotation axis RA2 arranged perpendicular to the first rotation axis RA1.
- the third joint portion J3 is a joint that linearly expands and contracts around a third axis (moving axis) RA3 arranged perpendicular to the second rotation axis RA2.
- the fourth joint portion J4 is a torsion joint centered on the fourth rotation axis RA4 that coincides with the third movement axis RA3.
- the fifth joint J5 is a bending joint centered on a fifth rotation axis RA5 orthogonal to the fourth rotation axis RA4.
- the sixth joint portion J6 is a bending joint centered on the sixth rotation axis RA6 that is perpendicular to the fourth rotation axis RA4 and perpendicular to the fifth rotation axis RA5.
- the arm part 2 turns together with the hand part 3 by the torsional rotation of the first joint part J1.
- the arm portion 2 moves up and down around the second rotation axis RA2 of the second joint portion J2 together with the hand portion 3.
- the arm support body (first support body) 11a forming the base portion 1 has a cylindrical hollow structure formed around the rotation axis RA1 of the first joint portion J1.
- the first joint portion J1 is attached to a fixed base (not shown).
- the first support 11 a rotates along with the turning of the arm portion 2.
- the first support 11a may be fixed to the ground plane. In that case, the arm part 2 is provided in a structure that turns independently of the first support 11a.
- the second support 11b is connected to the upper part of the first support 11a.
- the second support 11b has a hollow structure continuous with the first support 11a. One end of the second support 11b is attached to the rotating part of the first joint J1. The other end of the second support member 11b is opened, and the third support member 11c is rotatably fitted on the rotation axis RA2 of the second joint portion J2.
- the third support 11c has a scale-like hollow structure communicating with the first support 11a and the second support 11b.
- the third support 11c is housed in the second support 11b and is sent out as the second joint J2 is bent and rotated.
- the rear portion of the third joint portion J3 constituting the linear motion joint portion of the arm portion 2 is housed in the hollow structure in which the first support body 11a and the second support body 11b are continuous by contraction.
- the first joint portion J1 includes an annular fixed portion and a rotating portion.
- the fixing portion is fixed to a base (not shown).
- the 1st support body 11a and the 2nd support body 11b are attached to a rotation part.
- the first, second, and third supports 11a, 11b, and 11c rotate together with the arm portion 2 and the hand portion 3 about the first rotation axis RA1.
- the third support 11c is fitted at the lower end of the rear end thereof to the lower open end of the second support 11b so as to be rotatable about the rotation axis RA2.
- a second joint portion J2 is formed as a bending joint portion around the rotation axis RA2.
- the third joint portion J3 as the joint portion constitutes a main component of the arm portion 2.
- the hand portion 3 described above is provided at the tip of the arm portion 2. It is possible to place the two-finger hand 16 of the hand portion 3 at an arbitrary position and posture by rotating, bending, and extending / contracting the first to sixth joint portions J1-J6.
- the length of the linear motion expansion / contraction distance of the third joint portion J3 enables the hand portion 3 to act on a wide range of objects from the proximity position of the base 1 to the remote position.
- the third joint portion J3 is characterized by the length of the linear motion expansion / contraction distance realized by the linear motion expansion / contraction arm mechanism constituting the third joint portion J3.
- the length of the linear expansion / contraction distance is achieved by the structure shown in FIGS.
- the direct acting telescopic arm mechanism has a first connecting frame row 21 and a second connecting frame row 20. In the reference posture in which the arm unit 2 is horizontally disposed, the first connection frame row 21 is positioned below the second connection frame row 20, and the second connection frame row 20 is positioned above the first connection frame row 21. .
- the first connecting piece row 21 has the same U-shaped cross section, and is composed of a plurality of first connecting pieces 23 connected in a row at the back portion by pins. Depending on the cross-sectional shape of the first connecting piece 23 and the connecting position by the pins, the first connecting piece row 21 can be bent in the back surface direction BD, but conversely, it cannot be bent in the surface direction FD.
- the second connecting piece row 20 has a substantially flat plate shape having a width substantially equivalent to that of the first connecting piece 23, and is connected in a row by pins in a state that it can be bent along the back direction and the surface direction. It consists of a connecting piece 22.
- the first connection frame row 21 is connected to the second connection frame row 20 by a connection piece 26 at the tip.
- the connecting piece 26 has a shape in which the first connecting piece 23 and the second connecting piece 22 are integrated.
- the connecting piece 26 is the starting end and the second connecting piece row 20 is sent out together with the first connecting piece row 21 from the third support 11c, the first connecting piece row 21 and the second connecting piece row 20 are joined to each other. Is done.
- the first connecting piece row 21 and the second connecting piece row 20 are connected to each other by a connecting piece 26 at the front end portion, and are held inside the third support 11c at the rear portion to prevent the pulling out, thereby maintaining the joined state.
- the first connection frame row 21 and the second connection frame row 20 are maintained in the joined state, the bending of the first connection frame row 21 and the second connection frame row 20 is restricted, and thereby the first connection frame row 20 is limited.
- the columnar body having a certain rigidity is constituted by the 21 and the second connection frame row 20.
- the 1st connection top row 21 and the 2nd connection top row 20 are joined near the opening of the 3rd support 11c, and are sent out.
- column 20 are separated inside the 3rd support body 11c, and each will be in a bendable state.
- column 20 are bent separately, and are accommodated in the inside of the 1st support body 11a as a different body.
- a linear gear 22 a is formed inside the second connecting piece 22.
- the linear gear 22a is connected when the second connecting frame row 20 becomes linear, and constitutes a continuous linear gear.
- the second connecting piece 22 is sandwiched between the roller R1 and the drive gear 24a in the third support 11c.
- the linear gear 22a is meshed with the drive gear 24a.
- column 20 are pinched
- the drive gear 24a rotates reversely by the motor M1
- the second connecting piece row 20 and the first connecting piece row 21 are released from the joined state inside the third support 11c and behind the upper and lower rollers R2, R4. , Separated from each other.
- the separated second connection top row 20 and first connection top row 21 are returned to a bendable state, and are guided to guide rails (not shown) provided inside the second and third supports 11b and 11c. It is guided and bent in the direction along the first rotation axis RA1, and is accommodated in the first support 11a.
- the hand part 3 is equipped at the tip of the arm part 2 as shown in FIG.
- the hand portion 3 includes first, second, and third joint portions J1. J2. It is moved to an arbitrary position by J3, and is arranged in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6.
- the hand portion 3 has two finger portions 16a and 16b that are opened and closed.
- the fourth joint portion J4 is a torsional joint having a rotation axis RA4 that typically coincides with the central axis of the arm portion 2 along the extending and contracting direction of the arm portion 2, that is, the movement axis RA3 of the third joint portion J3.
- the fourth joint portion J4 rotates, the hand portion 3 rotates about the rotation axis RA4 from the fourth joint portion J4 to the tip.
- the fifth joint J5 is a bending joint having a rotation axis RA5 orthogonal to the movement axis RA4 of the fourth joint J4.
- the sixth joint portion J6 is a bending joint having a rotation axis RA6 perpendicular to the rotation axis RA4 of the fourth joint portion J4 and perpendicular to the rotation axis RA5 of the fifth joint portion J5.
- the hand 16 turns left and right.
- FIG. 4 shows the robot arm mechanism of FIG.
- the robot arm mechanism includes a first joint portion J1, a second joint portion J2, and a third joint portion J3 that form the base three axes, and a fourth joint portion J4, a fifth joint portion J5, and a sixth portion that form the wrist three axes.
- the joint portion J6 realizes three position degrees of freedom and three posture degrees of freedom.
- the first joint portion J1 is disposed between the first support body 11a and the second support body 11b, and is configured as a torsion joint with the rotation axis RA1 as the center.
- the rotation axis RA1 is arranged perpendicular to the reference plane BP of the base on which the fixing portion of the first joint portion J1 is installed.
- a Z axis is defined parallel to the rotation axis RA1.
- an orthogonal three-axis spatial coordinate system (XYZ) centering on the Z axis is defined.
- 2nd joint part J2 is comprised as a bending joint centering on rotating shaft RA2.
- the rotation axis RA2 of the second joint portion J2 is provided in parallel to the X axis on the spatial coordinate system.
- the rotation axis RA2 of the second joint portion J2 is provided in a direction perpendicular to the rotation axis RA1 of the first joint portion J1.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions, that is, the direction of the first rotation axis RA1 (Z-axis direction) and the Y-axis direction perpendicular to the first rotation axis RA1.
- the distance between the joints in the Z-axis direction between the first joint part J1 and the second joint part J2 (also referred to as the joint center distance, link length, or offset distance) is d1, and the first joint part J1 and the second joint part J2
- the joint distance in the Y-axis direction is given by L1.
- the joint center of the rotary joint portion refers to the structure center on the rotation surface
- the joint center of the linear motion joint portion refers to the structure center in the most contracted state.
- the second support 11b is attached to the first support 11a so that the second joint J2 is offset in the two directions with respect to the first joint J1.
- a virtual arm rod portion (link portion) that connects the second joint portion J2 to the first joint portion J1 has a crank shape in which two hook-shaped bodies whose tips are bent at right angles are combined.
- This virtual arm rod part is comprised by the 1st, 2nd support bodies 11a and 11b which have a hollow structure.
- the third joint portion J3 is configured as a linear motion joint centered on the movement axis RA3.
- the movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2 of the second joint portion J2.
- the movement axis RA3 of the third joint portion J3 is the second joint
- the rotation axis RA2 of the part J2 and the rotation axis RA1 of the first joint part J1 are provided in a direction perpendicular to the rotation axis RA2.
- the movement axis RA3 of the third joint portion J3 is provided in parallel to the Y axis perpendicular to the X axis and the Z axis. Further, the third joint portion J3 is offset with respect to the second joint portion J2 in two directions, that is, the direction of the rotation axis RA2 (Y-axis direction) and the direction of the Z-axis orthogonal to the movement axis RA3.
- the inter-joint distance (offset distance) in the Z-axis direction between the second joint part J2 and the third joint part J3 is d2
- the inter-joint distance in the Y-axis direction between the second joint part J2 and the third joint part J3 is L2. Given.
- the third support 11c is attached to the second support 11b so that the third joint J3 is offset in the two directions with respect to the second joint J2.
- the virtual arm rod portion (link portion) that connects the third joint portion J3 to the second joint portion J2 has a hook-shaped body whose tip is bent vertically. This virtual arm rod portion is constituted by the second and third supports 11b and 11c.
- the inter-joint distance L2 in the Y-axis direction between the first joint portion J1 and the second joint portion J2 is different from the inter-joint distance d2 in the Z-axis direction between the second joint portion J2 and the third joint portion J3. Is set.
- the fourth joint portion J4 is configured as a torsion joint with the rotation axis RA4 as the center.
- the rotation axis RA4 of the fourth joint part J4 is arranged to substantially coincide with the movement axis RA3 of the third joint part J3.
- the fifth joint J5 is configured as a bending joint with the rotation axis RA5 as the center.
- the rotation axis RA5 of the fifth joint portion J5 is disposed so as to be substantially orthogonal to the movement axis RA3 of the third joint portion J3 and the rotation axis RA4 of the fourth joint portion J4.
- the sixth joint portion J6 is configured as a torsion joint with the rotation axis RA6 as the center.
- the rotation axis RA6 of the sixth joint portion J6 is disposed so as to be substantially orthogonal to the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5.
- the sixth joint portion J6 is provided to turn the hand portion 3 as a hand effector, and its rotation axis RA6 is substantially the same as the rotation axis RA4 of the fourth joint portion J4 and the rotation axis RA5 of the fifth joint portion J5. It may be implemented as an orthogonal bending joint.
- one bending joint portion of the base three axes of the plurality of joint portions J1-J6 is replaced with a linear motion joint portion, and the second joint portion J2 is offset in two directions with respect to the first joint portion J1.
- the singularity posture is structurally eliminated by offsetting the third joint portion J3 in two directions with respect to the second joint portion J2.
- the elimination of the singular point posture or the decrease in the number of singular point postures means that “two adjacent joint portions of the plurality of joint portions J1-J6 are arranged to be offset in two or three directions”. It can be understood that this is realized by the creation of the technical idea.
- the creation of this technical idea has various variations with respect to combinations of joint types (twisting rotation, bending rotation, and linear motion) of a plurality of joint portions J1-J6, and offset directions corresponding to these combinations. Hereinafter, these variations will be described individually.
- the variations of the root three axes and the wrist three axes will be described individually. Each variation of these three root axes can be arbitrarily combined with each of the wrist three axis variations.
- the Z axis is defined perpendicular to the reference plane of the base, and an orthogonal three-axis spatial coordinate system (XYZ) centered on the Z axis is defined.
- XYZ orthogonal three-axis spatial coordinate system
- the rotary joint (bending joint or torsion joint) is represented as “R”
- the linear motion joint is represented as “P”
- the first joint portion in order from the base
- the second joint part and the third joint part for example, when the first and second joint parts are rotary joints and the third joint part is a linear motion joint, it is expressed as (RRP).
- the bending joint is represented as “B”
- the torsional joint is represented as “R”
- the fourth joint unit the fifth joint unit, the sixth joint in order from the root three-axis side.
- the fourth and fifth joint portions are bending joints and the sixth joint portion is a torsional joint
- BBR torsional joint
- RRP root three-axis
- the first joint portion J1 and the second joint portion J2 are rotary joints R
- the third joint portion J3 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that the movement axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero. Further, as shown in FIG.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the second joint portion J2 are rotary joints R, and the third joint portion J3 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is arranged such that the movement axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the second joint portion J2 are rotary joints R, and the third joint portion J3 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is arranged such that the movement axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the second joint portion J2 are rotary joints R, and the third joint portion J3 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that the movement axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the second joint portion J2 are rotary joints R, and the third joint portion J3 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that the movement axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the movement axis RA1 of the first joint J1 (linear motion joint P) is arranged in parallel with the X axis with the three axes (PRR).
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero. Further, as shown in FIG.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the X-axis direction with respect to the first joint portion J1.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 is a linear motion joint P
- the second joint portion J2 and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is arranged such that the movement axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that the movement axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the second joint portion J2 in the X-axis direction.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that the movement axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 in the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that the movement axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the X-axis direction with respect to the first joint portion J1.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that the movement axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that the movement axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is disposed such that the movement axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the X axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Y axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the first joint portion J1 and the third joint portion J3 are rotary joints R, and the second joint portion J2 is a linear motion joint P.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the X axis.
- the second joint portion J2 is arranged such that the movement axis RA2 is parallel to the Z axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- the root three-axis RRR
- all of the first joint portion J1, the second joint portion J2, and the third joint portion J3 are rotational joints R.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the X axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- all of the first joint portion J1, the second joint portion J2, and the third joint portion J3 are rotary joints R.
- the first joint portion J1 is disposed such that its rotation axis RA1 is parallel to the Z axis.
- the second joint portion J2 is disposed such that its rotation axis RA2 is parallel to the Y axis.
- the third joint portion J3 is disposed such that its rotation axis RA3 is parallel to the Z axis.
- the second joint portion J2 is offset with respect to the first joint portion J1 in two directions of the Y axis and the Z axis.
- the third joint portion J3 is offset with respect to the second joint portion J2 in the two directions of the Y axis and the Z axis.
- One of the offset of the second joint portion J2 with respect to the first joint portion J1 in the Y-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the Y-axis direction may be zero.
- the second joint portion J2 is also offset with respect to the first joint portion J1 with respect to the X-axis direction.
- the third joint portion J3 is also offset with respect to the X-axis direction with respect to the second joint portion J2.
- One or both of the offset of the second joint portion J2 with respect to the first joint portion J1 in the X-axis direction and the offset of the third joint portion J3 with respect to the second joint portion J2 in the X-axis direction may be zero.
- all of the fourth joint part J4, the fifth joint part J5, and the sixth joint part J6 are bending joints B of the rotary joint (BBB).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the X axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the X axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the X axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint portion J5 is also offset with respect to the X-axis direction with respect to the fourth joint portion J4.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- the fourth joint portion J4 is a torsional joint R of a rotary joint, and the fifth joint portion J5 and the sixth joint portion J6 are bending joints B (RBB).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the Z axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the X axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the X axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint portion J5 is also offset with respect to the X-axis direction with respect to the fourth joint portion J4.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- the fourth joint portion J4 is a bending joint B
- the fifth joint portion J5 is a torsional joint R
- the sixth joint portion J6 is a bending joint B (BRB).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the X axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the Z axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the X axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint portion J5 is also offset with respect to the fourth joint portion J4 in the X-axis direction.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- the fourth joint portion J4 is the bending joint B
- the fifth joint portion J5 is the bending joint B
- the sixth joint portion J6 is the torsional joint R (BBR).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the X axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the X axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the Z axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint J5 is also offset with respect to the fourth joint J4 in the X-axis direction.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- the fourth joint portion J4 is a bending joint B
- the fifth joint portion J5 is a torsion joint R
- the sixth joint portion J6 is a torsion joint R (BRR).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the X axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the Z axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the Z axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint J5 is also offset with respect to the fourth joint J4 in the X-axis direction.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- the fourth joint portion J4 is the torsional joint R
- the fifth joint portion J5 is the bending joint B
- the sixth joint portion J6 is the torsional joint R (RBR).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the Z axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the X axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the Z axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint J5 is also offset with respect to the fourth joint J4 in the X-axis direction.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- the fourth joint portion J4 is the torsional joint R
- the fifth joint portion J5 is the torsional joint R
- the sixth joint portion J6 is the bending joint B (RRB).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the Z axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the Z axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the X axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint portion J5 is also offset with respect to the X-axis direction with respect to the fourth joint portion J4.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- all of the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 are torsional joints R (RRR).
- the fourth joint portion J4 is disposed such that its rotation axis RA4 is parallel to the Z axis.
- the fifth joint portion J5 is disposed such that its rotation axis RA5 is parallel to the Z axis.
- the sixth joint portion J6 is arranged such that its rotation axis RA3 is parallel to the Z axis.
- the fifth joint portion J5 is offset with respect to the fourth joint portion J4 in two directions of the Y axis and the Z axis.
- the sixth joint portion J6 is offset with respect to the fifth joint portion J5 in two directions of the Y axis and the Z axis.
- One of the offset of the fifth joint J5 with respect to the fourth joint J4 in the Y-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the Y-axis direction may be zero.
- the fifth joint J5 is also offset with respect to the fourth joint J4 in the X-axis direction.
- the sixth joint portion J6 is also offset with respect to the X-axis direction with respect to the fifth joint portion J5.
- One or both of the offset of the fifth joint J5 with respect to the fourth joint J4 in the X-axis direction and the offset of the sixth joint J6 with respect to the fifth joint J5 in the X-axis direction may be zero.
- FIG. 12 (a) shows the connection between the root 3 axis (RRR) and the wrist 3 axis (BBB) from the front as an example of the connection between the root 3 axis and the wrist 3 axis.
- FIG. 12B shows the structure of FIG. 12A from the side.
- An offset distance LF3 related to the Y-axis direction with respect to J3 an offset distance LF4 related to the Y-axis direction relative to the fourth joint part J4 of the fifth joint J5, an offset distance LF5 related to the Y-axis direction relative to the fifth joint J5 of the sixth joint J6,
- the offset distance LS2 related to the X-axis direction of the third joint part J3 with respect to the second joint part J2 and the third joint of the fourth joint part J4.
- Offset distance LS4 when at least one of the offset distance LS5 X-axis directions with respect to the fifth joint portion J5 of the sixth joint portion J6 is not zero, it is possible to eliminate certain types of singular configuration.
- the offset distance LF1 related to the Y-axis direction of the second joint part J2 with respect to the first joint part J1 the offset distance LF2 related to the Y-axis direction of the third joint part J3 with respect to the second joint part J2, and the third joint of the fourth joint part J4.
- An offset distance LF3 in the Y-axis direction with respect to the portion J3 an offset distance LF4 in the Y-axis direction with respect to the fourth joint portion J4 of the fifth joint portion J5, and an offset distance LF5 in the Y-axis direction with respect to the fifth joint portion J5 of the sixth joint portion J6.
- At least one of them is not zero, and the offset distance LS1 of the second joint part J2 with respect to the first joint part J1 in the X-axis direction, the offset distance LS2 of the third joint part J3 with respect to the second joint part J2 in the X-axis direction, Offset distance LS3 regarding the X-axis direction of the fourth joint portion J4 with respect to the third joint portion J3, and the fifth joint portion J5
- the offset distance LS4 in the X-axis direction with respect to the fourth joint part J4 and the offset distance LS5 in the X-axis direction with respect to the fifth joint part J5 of the sixth joint part J6 is not zero, more types of singularity postures Can be eliminated.
- the occurrence of various singular point postures within the movable range can be eliminated or reduced by structural ingenuity.
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Abstract
Description
(根元3軸)
図5を参照して、根元3軸の(RRP)について説明する。図5(a)に示すように第1関節部J1、第2関節部J2が回転関節Rであり、第3関節部J3が直動関節Pである。第1関節部J1はその回転軸RA1がZ軸に平行になるよう配置される。第2関節部J2はその回転軸RA2がX軸に平行になるよう配置される。第3関節部J3はその移動軸RA3がX軸に平行になるよう配置される。第2関節部J2は第1関節部J1に対してY軸とZ軸との2方向に関してオフセットされる。第3関節部J3は第2関節部J2に対してY軸とZ軸との2方向に関してオフセットされる。なお第2関節部J2の第1関節部J1に対するY軸方向に関するオフセットと第3関節部J3の第2関節部J2に対するY軸方向に関するオフセットとの一方はゼロであってもよい。さらに図5(b)に示すように第2関節部J2は第1関節部J1に対してX軸の方向に関してもオフセットされる。第3関節部J3は第2関節部J2に対してX軸の方向に関してもオフセットされる。なお第2関節部J2の第1関節部J1に対するX軸方向に関するオフセットと第3関節部J3の第2関節部J2に対するX軸方向に関するオフセットとの一方又は両方はゼロであってもよい。
(手首3軸)
次に図11を参照して、手首3軸について説明する。図11(a)に示すように第4関節部J4と第5関節部J5と第6関節部J6の全てが回転関節の曲げ関節Bである(BBB)。第4関節部J4はその回転軸RA4がX軸に平行になるよう配置される。第5関節部J5はその回転軸RA5がX軸に平行になるよう配置される。第6関節部J6はその回転軸RA3がX軸に平行になるよう配置される。第5関節部J5は第4関節部J4に対してY軸とZ軸との2方向に関してオフセットされる。第6関節部J6は第5関節部J5に対してY軸とZ軸との2方向に関してオフセットされる。なお第5関節部J5の第4関節部J4に対するY軸方向に関するオフセットと第6関節部J6の第5関節部J5に対するY軸方向に関するオフセットとの一方はゼロであってもよい。さらに図11(b)に示すように第5関節部J5は第4関節部J4に対してX軸の方向に関してもオフセットされる。第6関節部J6は第5関節部J5に対してX軸の方向に関してもオフセットされる。なお第5関節部J5の第4関節部J4に対するX軸方向に関するオフセットと第6関節部J6の第5関節部J5に対するX軸方向に関するオフセットとの一方又は両方はゼロであってもよい。
Claims (21)
- 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした直動関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした直動関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な2方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした直動関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされ、
前記第3関節部は前記第2関節部に対して前記第2軸の方向と前記第2軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした直動関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした直動関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な2方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした直動関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされ、
前記第3関節部は前記第2関節部に対して前記第2軸の方向と前記第2軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした直動関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に平行になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした直動関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に平行になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な2方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした直動関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に平行になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされ、
前記第3関節部は前記第2関節部に対して前記第2軸の方向と前記第2軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした直動関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした直動関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な2方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした直動関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に垂直になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされ、
前記第3関節部は前記第2関節部に対して前記第2軸と前記第2軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした直動関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に水平になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした直動関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に水平になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な2方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした直動関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第1関節部は前記第1軸が前記基台に水平になるよう配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされ、
前記第3関節部は前記第2関節部に対して前記第2軸と前記第2軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な2方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 複数の関節部を有するロボットアーム機構において、
前記複数の関節部うち第1関節部は第1軸を中心とした回転関節であり、
前記複数の関節部うち第2関節部は第2軸を中心とした回転関節であり、
前記複数の関節部うち第3関節部は第3軸を中心とした回転関節であり、
前記第1、第2、第3関節部は基台から順番に配置され、
前記第2関節部は前記第1関節部に対して前記第1軸の方向と前記第1軸に垂直な方向とに関してオフセットされ、
前記第3関節部は前記第2関節部に対して前記第2軸の方向と前記第2軸に垂直な方向とに関してオフセットされることを特徴とするロボットアーム機構。 - 前記複数の関節部うち第4関節部は第4軸を中心とした回転関節であり、
前記複数の関節部うち第5関節部は第5軸を中心とした回転関節であり、
前記複数の関節部うち第6関節部は第6軸を中心とした回転関節であり、
前記第4、第5、第6関節部は基台から前記第1、第2、第3関節部に続いて順番に配置され、
前記第5関節部は前記第4関節部に対して前記第4軸の方向と前記第4軸に垂直な方向とに関してオフセットされることを特徴とする請求項1乃至18のいずれか一項に記載のロボットアーム機構。 - 前記複数の関節部うち第4関節部は第4軸を中心とした回転関節であり、
前記複数の関節部うち第5関節部は第5軸を中心とした回転関節であり、
前記複数の関節部うち第6関節部は第6軸を中心とした回転関節であり、
前記第4、第5、第6関節部は基台から前記第1、第2、第3関節部に続いて順番に配置され、
前記第5関節部は前記第4関節部に対して前記第4軸の方向と前記第4軸に垂直な2方向とに関してオフセットされることを特徴とする請求項1乃至18のいずれか一項に記載のロボットアーム機構。 - 前記複数の関節部うち第4関節部は第4軸を中心とした回転関節であり、
前記複数の関節部うち第5関節部は第5軸を中心とした回転関節であり、
前記複数の関節部うち第6関節部は第6軸を中心とした回転関節であり、
前記第4、第5、第6関節部は基台から前記第1、第2、第3関節部に続いて順番に配置され、
前記第5関節部は前記第4関節部に対して前記第4軸の方向と前記第4軸に垂直な方向とに関してオフセットされ、
前記第6関節部は前記第5関節部に対して前記第5軸の方向と前記第5軸に垂直な方向とに関してオフセットされることを特徴とする請求項1乃至18のいずれか一項に記載のロボットアーム機構。
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CA2965773A CA2965773A1 (en) | 2014-10-30 | 2015-10-27 | Robot arm mechanism |
AU2015338049A AU2015338049B2 (en) | 2014-10-30 | 2015-10-27 | Robot arm mechanism |
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