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  "abstract": "A robot ( 10 ) includes a fixed part ( 20 ), a first arm ( 21 ), a second arm ( 22 ), and a working shaft ( 25 ). The second arm ( 22 ) is longer than the first arm ( 21 ). A protrusion length of the working shaft ( 25 ), which is capable of protruding from the second arm ( 22 ) toward the fixed part ( 20 ) is longer than a distance between the first arm ( 21 ) and the second arm ( 22 ).",
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    "FANUC CORP"
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  "authors": [
    "Geng xing",
    "YAMAGUCHI YOUHEI"
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  "title": "Horizontal articulated robot",
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