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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-4903539-A, on 27 February 1990. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000003466

Direct-drive-type multi-articulated robot

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
KIKUCHI JUN, NIHEI RYO, TERADA AKIHIRO, TORII NOBUTOSHI, TOYODA KENICHI
Assignee
FANUC LTD
Original source
US-4903539-A, the United States Patent and Trademark Office, 27 February 1990
Document SHA-256
bf98eafb8c603e466f044a1d8e14ff399eee27f0ff09c38680ab016287277062

A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (Mθ) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).

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Abstract

A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (Mθ) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).

1. Drawings

[0001]Sheet 1.

[0002]Sheet 2.

Publication information

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Citation

OpenTechnical Publication OT-2026-000003466, “Direct-drive-type multi-articulated robot,” published September 15, 2026 at 20:31:12 UTC, https://opentechnical.org/p/OT-2026-000003466.

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