MULTI-MEMBER ACTUATED MECHANISM, PREFERABLY ROBOT, PARTICULARLY PREFERABLY ARTICULATED-ARM ROBOT

The present invention relates to a multi-member actuated mechanism (1), preferably a robot (1), particularly preferably an articulated-arm robot (1), having multiple members (11) which are connected to one another by actuated joints (12), having a base (10), which is arranged so as to be static relative to the members (11) and which is connected by means of a first actuated joint (12a) to a firstmember (11a), having an end effector (14), which is connected by means of an actuated joint (12) to a member (11), and having at least one first image capture unit (21), preferably at least one firstcamera (21). The multi-member actuated mechanism (1) is distinguished by the fact that at least the first image capture unit (21), preferably at least the first camera (21), is arranged on the base (10) or on a member (11), preferably on a member (11) close to the base. 本发明涉及一种多节式致动的运动机构(1)，优选机器人(1)，特别优选关节型机器人(1)，具有通过致动接头(12)相连的多个节段(11)、相对所述节段(11)静止式布置且通过第一致动接头(12a)与第一节段(11a)连接的底座(10)、通过致动接头(12)与一个节段(11)连接的末端执行器(14)，和至少一个第