| 摘要 |
In a manipulator, a first drive shaft extends from a first actuator means to a first gear case through one of two parallel cylinders of a manipulator arm and is coupled to a second gear case rockably supported by the first gear case via a pair of bevel gears for causing a working head or "hand" of the manipulator arm to undergo a bending or wrist-flexing motion. A second drive shaft extends through the other cylinder from a second actuator means to the first gear case and is coupled to a power cylinder rotatably supported in the second gear case via pairs of bevel gears for causing the aforesaid working head to undergo a swivelling motion. There is further provided a third gear case in which are housed a train of gears for imparting the rotation of the first drive shaft to the entire unit of the second actuator means with which is locked the second drive shaft during operation of the first actuator means only.
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