| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a manipulator having an increased gripping force and free from offset movement when gripping. <P>SOLUTION: In a manipulator working part, at least one of the following conditions is met when at least a first end effector 48a and a second end effector 48b are closed to the maximum. The conditions include: that a distance between a third articulation axis O3 and a first articulation axis O1 is larger than a distance between the first axis O1 and a tip of the second effector 48b; that a distance between the third articulation axis O3 and the first articulation axis O1 is larger than a distance between the third axis O3 and a second articulation axis O2; and that an angle formed by the direction from the third axis O3 toward the first axis O1 and the direction from the third axis O3 toward the second axis O2 is not π. <P>COPYRIGHT: (C)2008,JPO&INPIT |
