| 摘要 |
The manipulator (20) has links (c1-c6) arranged in series, and joints (d1-d6) pivotally connecting adjacent links and consist of coaxial joints (d1,d5) and diagonal joints (d2,d3,d4,d6). Each coaxial joint connect two adjacent links to be turnable coaxially about their rotation axes. Each diagonal connect two adjacent links to be turnable about an inclined rotation axis inclined at 45 degrees-angle. One specific link among multiple links has opposite ends connected by the diagonal joints to the adjacent links, and two rotation axes about which the adjacent links are turn, respectively, relative to the specific link are perpendicular to each other. |
