Patent ID: 6748819
Filing Date: 2004-06-15
Classification: B25J,Y10T

Abstract:
A robot comprising:a base; a bar-shaped arm member having a distal end and a proximal end; a first link one end of which is pivotally connected to an intermediate section of the arm member while the other end being pivotally supported on the base; a second link one end of which is pivotally connected to the proximal end of the arm member; a third link one end of which is pivotally connected to the other end of the second link while the other end being pivotally supported on the base so as to be coaxial with the other end of the first link; a fourth link one end of which is pivotally connected to at,least either one of the other end of the second link and the one end of the third link; a fifth link one end of which is pivotally connected to the other end of the fourth link while the other end being pivotally supported on the base, wherein the link length of the fifth link being shorter than that of the third link; and an actuator for causing the fifth link to pivot on the other end of the fifth link, wherein the arm member, the first link, the second link and the third link constitute a four bar linkage.