| 摘要 |
This invention relates to a flexible arm robot equipped with a large number of elements disposed in a line so that both surfaces of each element which are curved projectingly become contact surfaces, and with a plurality of wire-like operation members for curving the line consisting of the group of these elements in a desired direction. The robot of this invention is directed to make a motor for driving the operation members compact in size and light in weight and also a driving unit compact in size and light in weight. This flexible robot includes two driving units each interconnected to each base end of each of pairs of operation members (e.g. 3a and 3c, and 3b and 3d) facing each other on the diagonal among the plurality of operation members and driven through rotary members (5a, 5b, 9a, 9b or 12a, 12b, 12c, 12d) each being rotated both clockwise and counter-clockwise by one motor (8a or 8b). |
