Armstrong, Nikaido, Marmelstein, Kubovcik & Murray
Multi-articulated industrial robot with an offset robot arm
 An articulated industrial robot comprises a robot body (10), a robot upper arm (20) pivotally supported in a joint provided on the upper end (16) of the robot body (10) for a swing motion about a horizontal W-axis, and a robot forearm (30) pivotally supported in a joint provided on the extremity (24) of the robot upper arm (20) for an up-down turning motion about a horizontal U-axis. The robot upper arm (20) has an offset arm structure extending between the horizontal W-axis of the joint on the upper end (16) of the robot body (10) and the horizontal U-axis of the joint on the extremity (24) of the robot upper arm (20) with its back side (26) extending along the straight line connecting the respective centers of the horizontal W-axis and U-axis. Electric cables (40) and the like are extended along the back side (26) of the robot upper arm (20). 
Fanuc Ltd.
B B Y
B25J B25J Y10T
inventional inventional additional
Hitoshi Nobutoshi Masanao
Mizuno Torii Miyawaki