| 摘要 |
A manipulator (10a) includes a working unit (12a) comprising an operation command unit (14a), horizontal roller and vertical rollers (34, 35) mounted thereon, drive pulleys (50a, 50b) rotatable in response to operation of the horizontal roller (35) and the vertical roller (34), a connector (16a), a first rotational axis (Oy) disposed on a distal end of the connector (16a), a second rotational axis (Op) extending perpendicularly to the first rotational axis (Oy), tubular members (140, 136) rotatably supported on a shaft providing the first rotational axis (Oy), and wires (52, 54) having rear and front portions trained around the drive pulleys (50a, 50b) and the tubular members (140, 136), respectively. A drive mechanism (102) operates about the first rotational axis (Oy) in response to rotation of the tubular member (140), and an end effector (104) operates about the second rotational axis (Op) in response to rotation of the tubular member (136). |
