| 摘要 |
PURPOSE:To have a follow-up property to quick motion by directly connecting both ends of each link and a base member and a base body to each other by a flexible metal wire type member and making these links free to expand and contract by actuators respectively provided on them. CONSTITUTION:By driving an actuator consisting of a piezoelectric element 15 of a required link 6, the link 6 is expanded and contracted, in accordance with an expansion amount of each of the links 6, an end effector 3 is controlled by six degrees of freedom of positions and directions, its position is changed and an manipulator is made to carry out expected motion. Additionally, at a connection point of two groups against a base member 2 of each of the links 6 and a base body 4 of the end effector 3, both of the two groups are directly connected to each other by a flexible metal wire type member 11. Consequently, an assembly state is not easily collapsed by external force, and it is possible to have a follow-up property to quick motion. |
