| 摘要 |
A robotic manipulator. The manipulator includes an end. The manipulator includes a drive limb comprising N concentrically nested tubes, where N is greater than or equal to 2 and is an integer. The limb has a top and a bottom and is connected to the end at the top of the limb. The manipulator includes a drive mechanism connected with the drive limb at the drive limb's bottom to move the limb and the end. A method for moving a robotic manipulator. The method includes the steps of rotating an outside concentric tube of a drive limb. Then there is the step of turning a support structure of a joint with the outside tube which contacts the support structure. Next there is the step of rotating a second limb with an axle which contacts the second limb and the support structure to cause the second limb to rotate about the gear. |
