| CPC B25J 9/0048 (2013.01) [B25J 5/007 (2013.01); B25J 9/1005 (2013.01); B25J 9/106 (2013.01); B25J 9/162 (2013.01)] | 4 Claims |
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1. A robot system comprising a robot, the robot comprising:
a movable moving part;
an upper body part disposed above the moving part; and
a driving mechanism for tilting the upper body part and moving a lower end of the upper body part in a direction in which the upper body part is tilted, the driving mechanism being a spherical link mechanism for moving a support surface supporting the upper body part from below along a spherical surface, wherein:
the spherical link mechanism includes a pair of links,
a first link of the pair of links has (i) a first base end mounted for rotation about a first rotational center of the first base end and (ii) a tip end,
a second link of the pair of links has (i) a second base end mounted for rotation about a second rotational center of the second base end, the second base end being rotatably connected to the tip end of the first link,
the spherical link mechanism includes a support base including the support surface, the support base being rotatably connected to a connecting part connected to the second link, wherein
the connecting part is a speed reducer configured to lower a rotational speed of the support base relative to the second link of the pair of links to a half of a rotation speed of a third link of another pair of links relative to the second link.
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