Robot

Abstract

A jointed arm has an upper arm member joined to a second shoulder member, a first forearm member joined to the upper arm member by a first bending and stretching mechanism, and a wrist member joined to the first forearm member by a second bending and stretching mechanism, the first forearm member has a first turning mechanism that rotates the second bending and stretching mechanism, a hand section is joined to the wrist member by a second turning mechanism, and the rotation axes of the first and second turning mechanisms are offset. The upper arm member has a housing recessed portion that houses part of the first forearm member, part of the first turning mechanism, and part of the second bending and stretching mechanism in a state in which the first forearm member bends toward the upper arm member and the wrist member bends toward the first forearm member.

What is claimed is: 
     
         1 . A robot comprising:
 a body; and   a plurality of multi-jointed arms attached to the body; wherein   each of the multi-jointed arms includes   a first member rotatably attached to the body, and   a second member rotatably attached to the first member, wherein   the first member has a recess, and   at least a part of the second member is movable into the recess.   
     
     
         2 . The robot according to  claim 1  wherein
 the first member has a first arm, and 
 the second member has a second arm attached to the first arm. 
 
     
     
         3 . The robot according to  claim 2  wherein
 the second member has an end effector. 
 
     
     
         4 . The robot according to  claim 1  wherein
 each of the multi-jointed arms has seven joints. 
 
     
     
         5 . The robot according to  claim 1  comprising:
 a base; wherein 
 the body is rotatably attached to the base.