| 摘要 |
PROBLEM TO BE SOLVED: To miniaturize a manipulator with a multi-finger hand. SOLUTION: The manipulator device is provided with a servo control part arranged in a palm part, a power source part arranged in the palm part, and first and second amplifier parts provided in a case part forming an outer shell of a second joint to respectively driving first and second actuators. The servo control part and the power source part respectively perform transmission of an actuator control signal and supply of driving power source through a cable provided outside a finger part with respect to the first and second amplifier parts. The first and second amplifier parts are provided with a printed circuit board with an amplifier circuit mounted thereon, and a module case to fix the printed circuit board. A heat generation component of the amplifier circuit is in contact with a heat conductive sheet provided in the module case, and the module case is fixed on the case part from outside. COPYRIGHT: (C)2009,JPO&INPIT
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