Importance

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Abstract

A purpose is to reduce the risk of an arm section dropping off an ejection section in a robot arm mechanism having a linear motion joint. A robot arm mechanism including a linear extension and retraction joint includes a linear motion joint including an arm section and a mechanism for linearly extending and retracting the arm section; a stepping motor configured to generate power for linearly extending and retracting the arm section; a motor driver configured to drive the stepping motor; an encoder configured to output an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle; and a control section configured to control the driver unit to generate a static torque when a length of the arm section corresponding to a count of the encoder pulse reaches a threshold value set for preventing a drop of the arm section.

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First Claim