BENDING MECHANISM USING MULTI-JOINT SLIDER LINK

摘要

A bending mechanism capable of bending drive of ± 90° per degree of freedom by only an operation to directly slide a set of multi-joint links, a combination of such mechanisms making it possible to effect multi-degree of freedom bending. For this purpose, a first frame (1), a second frame (3) and a third frame (5) are pivotally connected in series disposition successively through a first rotary shaft (2) and a second rotary shaft (4). On the right-hand side of the first rotary shaft (2) of the first frame (1), a first driving link (7), a second driving link (9) and a third driving link (12) are connected. On the left-hand side of the first rotary shaft (2) of the first frame (1), a first constraining link (15) and a second constraining link (17) are connected. When the third driving link (12) is slid, the first frame (1) is turned from side to side.