MANIPULATOR

摘要

Provided is a manipulator equipped with a joint mechanism that couples an end effector with a body portion via two linkage members, wherein the joint mechanism is provided with: a first joint that couples the end effector with the linkage member in a mutually pivotable manner; a second joint that couples the linkage members with each other so as to be pivotable about a second axis; a third joint that couples the linkage member with the body portion so as to be pivotable about a third axis that is parallel to the axis; and a pair of restraining members that have constant lengths, that flank the second and third axes in the radial direction, and that are disposed in a crossed manner so as to intersect each other just once between the second and third joints.

主权项

1. A manipulator comprising:
an elongated body portion; an end effector that is positioned on a distal-end side of the body portion; and a joint mechanism that couples the body portion with the end effector so as to be mutually pivotable about a flexing axis that intersects a longitudinal axis of the body portion, wherein the joint mechanism is provided with:
a first linkage member and a second linkage member, sequentially from the distal-end side;a first joint that couples the end effector with the first linkage member so as to be mutually pivotable about a first flexing axis that intersects the longitudinal axis;a second joint that couples the first linkage member with the second linkage member so as to be mutually pivotable about a second flexing axis that intersects the longitudinal axis;a third joint that couples the second linkage member with the body portion so as to be mutually pivotable about a third flexing axis that is parallel to the second flexing axis; anda pair of restraining members that extend from the first linkage member to the body portion by bridging the second joint and the third joint and that have constant lengths, and wherein the pair of restraining members flank the second flexing axis and the third flexing axis in radial directions, respectively, and are disposed in a crossed manner by intersecting each other just once between the second joint and the third joint.