---
publication_id: "OT-2026-000003466"
title: "Direct-drive-type multi-articulated robot"
published_at: "2026-09-15T20:31:12.940638Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000003466"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j19/0004"
  - "b25j19/0004"
  - "b25j9/06"
  - "b25j19/00"
  - "b25j9/04"
  - "b25j9/042"
---

# Direct-drive-type multi-articulated robot

## 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.