| 摘要 |
A manipulator (1) provided with a joint mechanism (4), which links an end effector (3) with a trunk (2) via two linking members (61, 62). The joint mechanism (4) is provided with: a first joint (11) for pivotally linking the end effector (3) with the linking member (61); a second joint (12) for linking the linking members (61, 62) to each other so as to be able to pivot around a second axis (A2); a third joint (13) for linking the linking member (62) with the trunk (2) so as to be able to pivot around a third axis (A3) that is parallel to the axis (A2); and a pair of restricting members (71, 72), which have a constant length, hold the second and third axes (A2, A3) therebetween in the radial direction, and are disposed in a crossed form wherein the members cross each other only one time between the second and third joints (12, 13). |
