ROBOT ARM STRUCTURE AND ROBOT

PURPOSE: An arm structure of a robot and a robot are provided to minify minimum rotating diameter of the robot. CONSTITUTION: An arm structure of a robot and a robot comprise a first arm part(22), a second arm part(23), a middle link part(25b), a first link part(25a), and a second link part(25c). The first arm part is rotatably connected to a base end part with respect to a fixed base part(21). The second arm part is rotatably connected to the base end part with respect to front end part of the first arm part and is rotatably connected to a driving base part(24) with respect to the front end part. The middle link part is axis supported in a connection shaft(P3) the first arm part and the second arm part on coaxial. The first link part forms a first parallel link mechanism between the first arm part, the middle link part, and a fixed base part. The second link part forms a second parallel link mechanism between the second arm part, the middle link part, and the driving base part. The distance to the connection shaft of the first arm part and the second arm part from the connection shaft(P7) of the second link part and the middle link part is shorter than the connection shaft of the first arm part and the second arm part from the connection shaft of the first link part and the middle link part.