| 摘要 |
A manipulator includes a wire which is movable back and forth, a driven wire both ends of which are connected to the wire, an idle pulley, a guide pulley, a driven pulley which is movable back and forth, and an end effector coupled to the driven pulley. The driven wire passes from a terminal along a first side on the idle pulley and extends to a second side opposite to the first side, and then passes along the second side on the driven pulley. The driven wire is then wound around the driven pulley and passes along the first side on the driven pulley and then the second side on the idle pulley, and finally returns to the terminal, thereby making up an 8-shaped configuration path. The driven wire is crossed between the idle pulley and the guide pulley.
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