Robot and adjusting method

A robot comprising:

• a power source;
• and
• a power transmission mechanism configured to transmit an output of the power source, wherein
• the power transmission mechanism includes:
• a fixed member;
• a first pulley configured to rotate around a first axis with respect to the fixed member;
• a second pulley disposed to be separated from the first pulley and configured to rotate, with respect to the fixed member, around a second axis parallel to the first axis;
• a belt wound around the first pulley and the second pulley and configured to transmit the rotation of one of the first pulley and the second pulley to the other of the first pulley and the second pulley;
• a restricting columnar disk disposed to be opposed to the belt with a gap in a portion where the first pulley and the belt mesh with each other, the restricting columnar disk having a disk center;
• and
• a screw having a first center axis along a direction parallel to the first axis and configured to fix the restricting columnar disk to the fixed member,
• the restricting columnar disk eccentrically rotates around the first center axis to thereby change a distance of the gap between the restricting columnar disk and the belt in a plan view,
• a part of the belt that is meshed with the first pulley and the gap exist on a line connecting between the first axis and the disk center in the plan view,
• the first pulley and the restricting columnar disk are located directly adjacent to each other via the belt and the gap, and
• the screw is located between the disk center and a periphery of the restricting columnar disk and in the restricting columnar disk in the plan view.