Armstrong, Nikaido, Marmelstein, Kubovcik & Murray
Vertical multi-articulated robot
 A vertical milti-articulated robot comprises a base (11) secured to a plane (10) of installation. The base (11) is provided with a turning body (12) which is rotatable relative to a reference position of the base about a first axis (.theta.) perpendicular to the plane of installation within an angular range of nearly 90 degrees to the right and to the left, respectively. The turning body (12) is rotated by a body drive motor (14) about the first axis. An upper arm (16) having a base end and a tip is coupled at the base end thereof to the turning body (12) so as to be rotatable relative to the turning body about a second horizontal axis (W) from a nearly vertical attitude toward the front of the turning body. A forearm (19) having at the front end thereof a wrist assembly (20) is coupled to the tip of the upper arm so as to be rotatable relative to the upper arm about a third axis (U) which is parallel to the second axis. The upper arm ( 16) is provided with an upper arm drive motor for driving and rotating the upper arm relative to the turning body about the second axis and a forearm drive motor for driving and rotating the forearm relative to the upper arm about the third axis. The upper arm drive motor and the forearm drive motor are arranged at the back of a first plane (A-A) including the second and third axes so that the rotational axes of these motors are located on a second plane (B-B) which intersects the second axis at a right angle. 
Fanuc Ltd.
Y B B
Y10T B25J B25J
additional inventional inventional
Kyoji Nobutoshi Hitoshi
Iwasaki Torii Mizuno