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|1. (WO2018088446) WORK DEVICE AND DOUBLE-ARM-TYPE WORK DEVICE|
|Title:||WORK DEVICE AND DOUBLE-ARM-TYPE WORK DEVICE|
Provided is a work device which makes it possible to easily transport a component out to the periphery of the work device or in from the periphery thereof, is capable of performing a task in an automated manner in almost the same manner as would a person performing the task by hand, is capable of coexisting with humans, exhibits high operation reliability, and only moves the device overall a small amount when performing a detailed task. To this end, a work device (1) has a seven-degree-of-freedom configuration for performing a task by using an end effector (5), and is equipped with a three-degree-of-freedom linear movement unit (3), a three-degree-of-freedom rotation unit (4), and a rotating one-degree-of-freedom joint mechanism (13) for rotating the linear movement unit (3) and the rotation unit (4). The joint mechanism (130) has a fixed part (131) that is affixed to a base (2), and also has a movable unit (132) capable of rotating relative to the fixed part (131). The base section of the rotation unit (4) is positioned so as to be affixed to the output part of the linear movement unit (3). The end effector (5) is mounted to the output part of the rotation unit (4).