| 摘要 |
PROBLEM TO BE SOLVED: To three-dimensionally move fingers constituting a manipulator, and downsize the manipulator. SOLUTION: The manipulator includes a driving force transmitting means to which a driving force is supplied for transmitting the driving force further through a plurality of output parts to the outside, a main driving force activating means to which the driving force is transmitted for further externally activating the driving force, and a pair of sub driving force activating means to which the driving force is transmitted for further externally activating the driving force. When the driving force is supplied in a first supply mode, the main driving force activating means and the pair of sub driving force activating means are driven to rotate in the same longitudinally rotating direction. Further, when the mode is continued while part of the longitudinal rotation drive of the main driving force activating means is limited, the sub driving force activating means are further driven to rotate in the longitudinally rotating direction. When the driving force is supplied in a second supply mode, the main driving force activating means and the pair of sub driving force activating means are driven to rotate in a laterally rotating direction different from the longitudinally rotating direction. COPYRIGHT: (C)2007,JPO&INPIT
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