Robot apparatus and parallel robot

A robot apparatus comprising:

• a base portion;
• a motor portion that is disposed on the base portion;
• a transmission mechanism that is disposed on one surface of the base portion and to which a rotational force of the motor portion is transmitted;
• and
• a rotation-driving mechanism that is disposed on the one surface of the base portion and to which the rotational force of the motor portion is input via the transmission mechanism,
• wherein a workpiece is rotated by the rotation-driving mechanism at an end of the rotation-driving mechanism opposite to the base portion, and
• wherein a universal joint portion that connects the rotation-driving mechanism to a connecting target object is provided at at least one end of both ends of the rotation-driving mechanism,
• wherein the universal joint portion comprises:
• a pair of connecting portions of which one is attached to an end of the rotation-driving mechanism and of which the other is attached to the connecting target object;
• an intermediate portion that is disposed between the pair of connecting portions;
• a position regulating pin that connects the pair of connecting portions to the intermediate portion;
• a rolling bearing that is disposed in the connecting portion and rotatably supports the position regulating pin;
• and
• a spacer that is disposed around the position regulating pin, is disposed between the rolling bearing and the intermediate portion, and comes in contact with an inner ring of the rolling bearing,
• wherein each of the pair of connecting portions comprises:
• a base that extends in a direction intersecting an extending direction of the rotation-driving mechanism;
• and
• a pair of extensions that extends in a direction in which the extensions face each other from both ends of the base,
• wherein the bases are separately attached to the rotation-driving mechanism and the connecting target object,
• wherein the position regulating pin comprises:
• a pin body that is inserted into the rolling bearing;
• a flange portion that is disposed at one end of the pin body and comes in contact with the inner ring of the rolling bearing;
• and
• an externally threaded portion that is disposed at the other end of the pin body, and
• wherein an internally threaded portion is disposed in the intermediate portion, the externally threaded portion of the position regulating pin is fastened into the internally threaded portion of the intermediate portion.