MANIPULATOR

摘要

A manipulator has its efficiency and reliability raised by reducing the size and weight of the system by means of a backup by a common specification drive circuit and actuator when a fault occurs. The actuator of an end effector is made so as to have a common structure with the actuators of the multiple joints, their being driven by a common specification drive unit. Two systems which can be switched are provided in the actuator of the end effector and additionally a spare drive unit is provided.