Mikromanipulator

摘要

A micromanipulator comprises a pair of hand modules (1) each of which includes a circular base plate (2) with three connection points (16), an end-effector (3) consisting of a circular moving plate (4) and a finger (5) attached to the moving plate, the moving plate being disposed above the base plate and having three connection points (17) offset 60 degrees from those of the base plate, six metal links (6) disposed between the base plate and the moving plate, six actuators (15) provided on the six metal links for extending and contracting them, six first metal wire members (11) connected between one end of the six metal links and the three connection points of the base plate so that two wire members are connected with each connection point of the base plate to be inclined in opposite directions, and six second metal wire members (11) connected between the other end of the metal links and the three connection points of the moving plate so that two wire members are connected with each connection point of the moving plate to be inclined in opposite directions.