Articulated mechanical arm

摘要

The invention relates to an articulated mechanical arm. The mechanical arm comprises a link unit; and a drive unit configured to drive the link unit; wherein the link unit comprises: a first link; a second link rotatably coupled to the first link; a third link rotatably coupled to the second link; a plurality of wires, each of which is fixed at one end thereof to the third link, and is connected at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link; a path forming structure configured to define for each of the wires a path between the drive unit and the third link; and a length holding structure configured to hold substantially constant a length that each of the wires extends between the drive unit and the third link.