Patent ID: 7814811

Claim:
An articulated robot comprising: a base; a first arm having one end supported by the base so as to be rotatable about a first horizontal axis; a second arm having one end supported by the other end of the first arm so as to be rotatable about a second horizontal axis that is parallel to the first horizontal axis; a third arm having one end supported by the other end of the second arm so as to be rotatable about a third horizontal axis that is parallel to the first horizontal axis; an up-down table supported by the other end of the third arm so as to be rotatable about a fourth horizontal axis that is parallel to the first horizontal axis; a fourth arm having one end supported by the base so as to be rotatable about the first horizontal axis; a fifth arm having one end supported by the fourth arm so as to be rotatable about a fifth horizontal axis that is parallel to the first horizontal axis, and the other end supported by the second arm so as to be rotatable about a sixth horizontal axis that is parallel to the first horizontal axis; a first link base which is rotatably supported by the second horizontal axis; a second link base which is rotatably supported by the third horizontal axis; a first auxiliary link which is rotatably supported by the base and the first link base, and forms a first parallel link mechanism with the first link base, the first arm and the base; a second auxiliary link which is rotatably supported by the first link base and the second link base, and forms a second parallel link mechanism with the second link base, the second arm and the first link base; and a third auxiliary link which is rotatably supported by the second link base and the up-down table, and forms a third parallel link mechanism together with the up-down table, the third arm and the second link base, wherein a length ratio between the first arm, the second arm, the third arm, the fourth arm, and the fifth arm is 1:2:1:1:1, and the sixth horizontal axis is disposed in a middle between the second horizontal axis and the third horizontal axis.