Provided is a robot arm mechanism that conveys and supports a work, which
requires neither a traveling axis that demand a high installation accuracy nor
a jig for fixedly supporting a work. A robot 1 includes: a parallel link
mechanism 6 having a lower link 2 and an upper link 3, in
which the lower link 2 and the upper link 3 are coupled with an arm
4 and an auxiliary link 5; a driving portion for driving one joint
12 of the lower link 2 in the parallel link mechanism; a parallel
link mechanism 11 having a lower link 7 and an upper link 8 fixed
on the upper link 3 in the parallel link mechanism 6, in which the
lower link 7 and the upper link 8 are coupled with an arm 9 and
an auxiliary link 10; a driving portion for driving one joint 15 of
the upper link 8 in the parallel link mechanism 11; and an arm 17
fixed on the lower link 7 in the parallel link mechanism 11 and
holding up an object for support.
