| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator which can provide minute translational displacement in a direction orthogonal to a shaft and rotational displacement around the shaft, and is compact and simple in mechanism. SOLUTION: The manipulator 1 is formed of an arm section 2 for carrying out work, a rotational angle control section 3 for controlling a rotational angle of the arm section 2, and a displacement control section 4 for controlling displacement of the arm section 2. The rotational angle control section 3 has a rotational angle applying means 31 for applying a rotation driving force. The arm section 2 has: a bending shaft portion 21 which is connected to the rotational angle applying means 31, and rotatable and bendable; a working shaft 22 connected to the bending shaft portion 21 and movable by bending of the bending shaft portion 21; and a working portion 23 set at a front end of the working shaft 22, for carrying out various kinds of work. The displacement control section 4 has: a displacement applying means 41 for applying a force to the working shaft 22; and an output member 42 for transmitting the driving force of the displacement applying means 41, and always abutting on the working shaft 22. COPYRIGHT: (C)2009,JPO&INPIT
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