| 摘要 |
PROBLEM TO BE SOLVED: To simplify a constitution of a multi-articulated manipulator for individually changing the bending direction of a joint part.SOLUTION: A multi-articulated manipulator comprises a support member 2 having three joint parts and an operation wire 4 arranged through the support member 2 and curving the support member 2. The support member 2 is constituted by connecting a plurality of mutual three hollow housings 21, 22, 23 and 24 in a soft tube 25 by the operation wire 4. The housings 21, 22, 23 and 24 are provided with through-holes 21a, 22a, 23a and 24a in both end parts in the length direction, and a magnetic field generating coil 7 is arranged on the inside. In the joint parts of the support member 2, ring-shaped magnetic particle mixed bodies 81 and 83 are arranged around the through-holes 21a, 22a, 23a and 24a. The magnetic field generating coil 7 is hardened by impressing a magnetic field on the magnetic particle mixed bodies 81 and 83.SELECTED DRAWING: Figure 4 |
