公开(公告)号：US20230122717A1

公开(公告)日：2023-04-20

申请号：US17920934

申请日：2021-12-02

Applicant: NSK LTD.

Inventor： Kohei SHIRAHAMA ,  Sumio SUGITA ,  Satoshi INAGAKI

IPC: B25J18/00 ,  B25J9/00

Abstract: A robot mechanism is provided with a parallel link including a first output base, a first parallel link mechanism disposed on a first side of the first output base, and a second parallel link mechanism and an end effector disposed on a second side of the first output base. The first parallel link mechanism includes a first driver that generates a linear motion output and a second driver that generates a linear motion output. A tilting link mechanism including a mass body that generates a second moment load in a direction to reduce a first moment load exerted on the first parallel link mechanism by the weight of the second parallel link mechanism and the end effector is connected to the first driver and the second driver.