Abstract: A parallel link robot (10) includes an additional actuator (13d) which is arranged between two driven links (22b, 23b) in parallel with these driven links, a power transmission shaft part (39) which extends coaxially from the additional actuator and transfers the rotational drive force of the additional actuator to a posture changing mechanism part (15), a universal joint (38) which links the shaft part (14) which extends from the posture changing mechanism part and a power transmission shaft part, and a linking/reinforcing part (61) which bypasses the universal joint and links together and reinforces the two ends of the cutaway part of the casing of the moving part (12).

Abstract: A parallel link robot (10) includes an additional actuator (13d) which is arranged between two driven links (22b, 23b) in parallel with these driven links, a power transmission shaft part (39) which extends coaxially from the additional actuator and transfers the rotational drive force of the additional actuator to a posture changing mechanism part (15), a universal joint (38) which links the shaft part (14) which extends from the posture changing mechanism part and a power transmission shaft part, and a linking/reinforcing part (61) which bypasses the universal joint and links together and reinforces the two ends of the cutaway part of the casing of the moving part (12).

Abstract: A parallel link robot (10) provided with a base (11), a moving part (12), three links (20a to 20c) coupling the base and the moving part and having respectively single degrees of freedom with respect to the base, and three actuators (13a to 13c) respectively driving the links, each of the links comprised of a drive link (21a to 21c) coupled with the base and two driven links (22a to 22c, 23a to 23c) coupling the drive link and the moving part and parallel to each other, and further provided with a posture changing mechanism (15) which changes a posture of an element (19) attached to the moving part, an additional actuator (13d to 13f) arranged between the two driven links of at least one link in parallel to these driven links, and a power transmission shaft (39) which extends coaxially from the additional actuator and transmits rotational drive force to the posture changing mechanism.

Abstract: A parallel link robot (10) provided with a base (11), a moving part (12), three links (20a to 20c) coupling the base and the moving part and having respectively single degrees of freedom with respect to the base, and three actuators (13a to 13c) respectively driving the links, each of the links comprised of a drive link (21a to 21c) coupled with the base and two driven links (22a to 22c, 23a to 23c) coupling the drive link and the moving part and parallel to each other, and further provided with a posture changing mechanism (15) which changes a posture of an element (19) attached to the moving part, an additional actuator (13d to 13f) arranged between the two driven links of at least one link in parallel to these driven links, and a power transmission shaft (39) which extends coaxially from the additional actuator and transmits rotational drive force to the posture changing mechanism.

Abstract: A robot including a forearm section with a through passage, a wrist section articulated on the forearm section, and an umbilical member inserted through the through passage of the forearm section and provided along the wrist section. The robot includes a tool managing and relaying unit mounted on the forearm section close to the through passage and provided with a connection part to which the umbilical member is connected, and a mount mechanism carrying the tool managing and relaying unit movably between a first position where the connection part is disposed adjacent to an opening of the through passage and a second position where the connection part is spaced from the opening of the through passage, and releasably securing the tool managing and relaying unit to the forearm section at the first position.