OPENTECHNICAL PUBLICATION
OT-2026-000003466

Direct-drive-type multi-articulated robot

Published: 2026-09-15T20:31:12.940638Z
Permanent URL: https://opentechnical.org/p/OT-2026-000003466
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000003466
Published 2026-09-15T20:31:12.940638Z
https://opentechnical.org/p/OT-2026-000003466