| 摘要 |
A manipulator has a working unit in which when at least a first end effector finger and a second end effector finger are maximally closed on each other, at least the distance between a third joint axis and a first joint axis is greater than the distance between the first joint axis and a distal end of the second end effector finger, or the distance between the third joint axis and the first joint axis is greater than the distance between third joint axis and a second joint axis, or the angle formed between a direction from the third joint axis to the first joint axis and a direction from the third joint axis to the second joint axis is not &pgr;.
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