---
publication_id: "OT-2026-000003089"
title: "Robot system"
published_at: "2026-09-15T19:26:18.259009Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003089"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/10"
  - "b25j9/104"
  - "b25j9/104"
  - "b25j15/06"
  - "b25j15/0616"
  - "b25j15/0616"
---

# Robot system

## Abstract

The robot system including a 6-axis robot has a swingable arm for transferring a workpiece between first and second positions, a wrist on a distal end of the arm, that is driven to rotate around a predetermined axis, and a transfer device at the wrist. The transfer device has a link mechanism having first and second links and holding means attached to a distal end of the second link. A proximal end of the first link is attached to the wrist so as to rotate around the predetermined axis. A distal end of the first link and a proximal end of the second link are rotatably connected to each other. In accordance with a swinging motion of the arm, the first link rotates in a first rotational direction with respect to the arm and the second link rotates in a second rotational direction opposite to the first rotational direction with respect to the first link, so as to transfer the workpiece along a straight line linking the first and second positions.

## 1. Drawings

[0001] Sheet 1.

[0002] Sheet 2.

[0003] Sheet 3.

[0004] Sheet 4.

[0005] Sheet 5.

[0006] Sheet 6.

[0007] Sheet 7.

[0008] Sheet 8.

[0009] Sheet 9.

[0010] Sheet 10.