
5Maintenance and Inspection
<8>J6 axis <7>J4 axis motor | <5>J3 axis motor |
reduction gear |
|
<9>J5 axis motor | Elbow |
Fore arm
<12>J6 axis motor
<13>J6 axis reduction gear
|
| <6>J3 axis |
|
| reduction gear |
| <10>J5 axis timing belt |
|
Wrist housing | <11>J5 axis |
|
reduction gear | Upper arm | |
|
| <2>J1 axis |
|
| reduction gear |
| Shoulder |
|
<3>J2 axis motor
<4>J2 axis reduction gear
<1>J1 axis motor
Fig