Robot arm mechanism
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United States of America Patent
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Mar 30, 2021
Grant Date -
Aug 10, 2017
app pub date -
Apr 27, 2017
filing date -
Oct 30, 2014
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A robot arm mechanism capable of structurally eliminating or reducing a singular point posture within a movable range has a plurality of joints. The first joint is a rotational joint that rotates on a first axis, a second joint is a rotational joint that rotates on a second axis, and a third joint is a linear motion joint that moves along a third axis. The first joint, the second joint and the third joint are arranged in order from a base. The first joint is arranged so that the first axis is perpendicular to the base. The second joint is offset with respect to the first joint in a direction (Z axis direction) of the first axis and a direction (Y axis direction) perpendicular to the first axis.
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