| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an improved robotic arm. <P>SOLUTION: The robotic arm 116 includes a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm 116 movably supports an endoscopic camera. Two outboard links 702, 703 are pivotally coupled together. At least one of the two outboard links 702, 703 supports the endoscopic camera. Two inboard links 701, 704 are respectively pivotally coupled to the two outboard links 702, 703 such that the two inboard links 701, 704 are able to cross over one another. The two inboard links 701, 704 movably support the two outboard links 702, 703. A ground link is pivotally coupled to the two inboard links 701, 704. The ground link movably supports the two inboard links 701, 704. <P>COPYRIGHT: (C)2013,JPO&INPIT |
