| 摘要 |
A slack correction mechanism (1) is provided with: a distal-end pulley (2) capable of rotating about a predetermined shaft; a distal-end wire (3) wound on the distal-end pulley (2); a first supporting part (4) for supporting one side of the distal-end wire (3), the first supporting part (4) having a first base (41), a first friction part (42) protruding from the first base (41), one side of the distal-end wire (3) wound on the distal-end pulley (2) being wrapped in a loop around the first friction part (42), and a first urging part (43) for urging the distal-end wire (3) in a pulling direction at a location further toward one end of the distal-end wire (3) than the first friction part (42); and a second supporting part (5) for supporting the other side of the distal-end wire (3), the second supporting part (5) having a second base (51), a second friction part (52) protruding from the second base (51), the other side of the distal-end wire (3) wound on the distal-end pulley (2) being wrapped in a loop around the second friction part (52), and a second urging part (53) for urging the distal-end wire (3) in the pulling direction at a location further toward the other end of the distal-end wire (3) than the second friction part (52). A manipulator and manipulator system are thereby provided in which a dynamic excess portion is rapidly removed and a distal-end part rapidly actuates in response to operation of an operation part. |
