Abstract: A finger module includes a first link module rotating around a first joint shaft; first through third drive modules respectively fixed to the first link module and each having an electric motor, reduction means and output means; a second link module driven and rotated by the second drive module; and a third link module driven and rotated by the third drive module. In a finger module structure of the above finger module, the first through third drive modules and the second link module are separately provided in the first link module, and the third link module is provided in the second link module. A robot hand includes at least two of the finger modules side by side.

Abstract: An articulated robot having a swivel base supported on a support base for swivel movement about a vertical axis, a first arm pivoted on the swivel base for swing movement about a first swing axis perpendicular to the vertical axis and a second arm pivoted on the forward end of the first arm for swing movement about a second swing axis parallel to the first swing axis, wherein a servomotor for moving the second arm is mounted on the swivel base. The robot is provided with a gear train transmitting the rotation of the servomotor to the second arm, and the gear train is composed of a drive gear rotated by the servomotor to be rotated about the first swing axis, a driven gear fixed to the second arm for rotational movement about the second swing axis together with the second arm, and three idler gears disposed between the drive gear and driven gear for transmitting the rotation of the drive gear to the driven gear.

Abstract: An industrial robot utilizing a parallel link mechanism comprises a shoulder portion swingable about a vertical axis, which supports a first arm and a first link for swing movements about a common axis. A second arm pivoted at the end of the first arm for swing movement about a swing axis parallel to the common axis and being provided with a wrist portion at the front end thereof, while a second link is connected between the first link and the second arm so as to form a parallel link mechanism. Further, the second arm is provided with first and second connecting portions formed at the rear side and front sides of the second arm, respectively, with respect to the swing axis of the second arm. The first and second connecting portions are selectively connectable with one end of the second link using a connecting mechanism.