Robot

A robot comprising:

• a base housing a power supply and a controller;
• a first arm rotatably connected to the base to rotate about a first axis;
• a second arm rotatably connected to a distal end of the first arm to rotate about a second axis that extends parallel to the first axis, the second arm having a housing defining an internal space;
• a plurality of motors provided in the internal space of the second arm, the plurality of motors including at least two motors;
• a pipe connecting the base to the second arm and bypassing the first arm, the pipe being rotatably connected to the base on a first end to rotate about the first axis at the first end and the pipe being rotatably connected to the second arm on a second end;
• a first power line disposed within the pipe and being configured to supply electric power from the power supply to the at least two motors;
• and
• a first signal line disposed within the pipe and being configured to supply a control signal from the controller to the at least two motors,
• wherein the first power line is connected to a power supply circuit configured to output a DC voltage and supplies the DC voltage to the plurality of motors,
• the first power line includes capacitors and a backflow preventing element, the capacitors having capacitance for accumulation electric charges of regenerative currents generated in braking of the respective plurality of motors, and the backflow preventing element being configured to prevent a backflow of the regenerative currents to the power supply circuit, and
• one or both of the capacitors and the backflow preventing element are located on an inside of the robot.