| 摘要 |
PROBLEM TO BE SOLVED: To provide a manipulator which can maintain a position that holds a workpiece imposing a load in excess of a capacity of an actuator, over a long time, and can transfer the workpiece without increasing the capacity of the actuator at a fingertip. SOLUTION: The manipulator is set up by mounting a frame B2 so as to be rotatable about a rotation axis X4, by a driving mechanism arranged on a frame A1 near a proximal end of the manipulator, mounting a frame C3 so as to be rotatable about a rotation axis Y5 orthogonal to the rotation X4, by a driving mechanism arranged on a frame B2, and fixing an end effector 8 to the frame C3 such that the end effector 8 carries out work including gripping of the workpiece. Herein a mechanical stopper B7 set on the frame B2 and a mechanical stopper A6 set on the frame C3 are arranged such that their flat surfaces butt against each other at a predetermined angle. COPYRIGHT: (C)2006,JPO&NCIPI
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