Offset rotary joint unit equipped with rotation correction mechanism

An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit is composed of a first arm , a rotation correction arm rotationally driven around the axial line of the first arm, and a second arm rotationally driven around an axial line obliquely intersecting with the rotation correction arm. A rotation correction joint mechanism linking the first arm and the rotation correction arm and an offset rotary joint mechanism linking the rotation correction arm and the second arm are driven by a single motor , and the rotation correction joint mechanism rotates synchronously and in the reverse direction, following the rotation of the offset rotary joint mechanism , thereby allowing the second arm to execute a bending motion in a two-dimensional plane with respect to the first arm only by virtue of rotary mechanisms.