Robot having a multi-degree-of-freedom

(57) Abstract: robot arm 10 is provided with at least two links L1, L2. θ movement to the main shaft 21 around the adjacent end of the closest side link L1 is realized of the links. R motion from the main shaft 21 radially away is carried out, whereby the distal end of the furthest side link L2 of the links moves linearly in the radial direction. At least two end effectors 18 to the end effector axis 25 parallel to the main shaft 21 is rotatably mounted to pivot relative to the distal end of the furthest link L2. Arm structure 10 has been improved by adding a yaw motor 3 for rotating the plurality of end effector 18 independently.