MANIPULATOR DEVICE

摘要

A child unit (30) is configured to freely pivot about a first axial center (AX1) relative to a parent unit (10), and a grandchild unit (50) including a manipulator (56) is configured to freely pivot about a second axial center (AX2), which is orthogonal to the first axial center (AX1), relative to the child unit (30). A first rotary volume (32) is configured to detect a relative pivot amount of the parent unit (10) and the child unit (30) about the first axial center (AX1), and a second rotary volume (39) is configured to detect a relative pivot amount of the child unit (30) and the grandchild unit (50) about the second axial center (AX2). Both the first rotary volume (32) and the second rotary volume (39) are mounted to an electrical circuit board (43) of the child unit (30).

主权项

1. A manipulator device, comprising:
a first unit; a second unit configured to freely pivot about a first axial center relative to the first unit; a third unit comprising a manipulator and configured to freely pivot about a second axial center relative to the second unit, the second axial center being non-parallel to the first axial center; a first detector configured to detect a relative pivot amount of the first unit and the second unit about the first axial center, the first detector being arranged in the second unit; and a second detector configured to detect a relative pivot amount of the second unit and the third unit about the second axial center, the second detector being arranged in the second unit.