{
  "abstract": "In a state where an output shaft of a fifth axis motor that allows a support arm of a collaborative robot to rotate about the fifth axis is disposed along a fourth axis, the fifth axis motor and a torque converter that converts a torque of the output shaft into a torque about the fifth axis are housed inside of an upper arm. The upper arm is a cylindrical case, and includes an arm body having an opening for attaching the fifth axis motor and the torque converter, and a cover attached to the arm body to cover the opening. The fifth axis motor and the torque converter are housed in an internal region within an opening edge of the opening when viewed along the fifth axis.",
  "assignees": [
    "DAIHEN CORP"
  ],
  "authors": [
    "MATSUO HIDEKI"
  ],
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  "published_at": "2026-09-15T19:03:56.636858Z",
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  "source_date": "2026-04-02",
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  "supersedes": null,
  "title": "Collaborative robot",
  "uuid": "01a0a674-53dc-74b1-ab95-1dad13d5c834"
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