{
  "abstract": "A vertical articulated robot includes a first arm; a second arm coupled to a distal end portion of the first arm, configured to rotate around a first rotation axis with respect to the first arm, and extending along the first rotation axis; and a third arm coupled to a distal end portion of the second arm and configured to rotate around a second rotation axis with respect to the second arm. The second arm includes a housing coupled to the first arm; and a first wire lead-out portion and a second wire lead-out portion disposed on the housing. The first wire lead-out portion leads out a first wire to the outside of the housing, and the second wire lead-out portion leads out a second wire to the outside of the housing. The first and the second wire lead-out portions are disposed to face each other across the first rotation axis.",
  "assignees": [
    "SEIKO EPSON CORP"
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  "authors": [
    "TAKAHARA DAICHI"
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  "source_date": "2026-04-02",
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  "title": "Vertical articulated robot",
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