| 摘要 |
PROBLEM TO BE SOLVED: To provide a simply structured and highly operable manipulator with improved reliability. SOLUTION: The manipulator is provided with an operation command part 20, a connection part 30 one end of which is connected to the operation command part 20, a working part 10 connected to the other end of the connection part 30, and a control part 40. The manipulator also has a support part consisting of a first rotation axis 11 orthogonally crossing the center axis of the connection part 30 and a second rotation axis 12 orthogonally crossing the first rotation axis, a treatment part 14 whose rolling axis is nearly parallel to the axial direction of the second rotation axis 12, and an attitude operating part 23 consisting of a third rotation axis 21 orthogonally crossing the center axis of the connection part 30 and a fourth rotation axis 22 orthogonally crossing the third rotation axis. Further, a treatment operating part 24 is formed in such a way that the direction of fingers of an operator holding the treatment operating part is nearly parallel to the axial direction of the fourth rotation axis 22. |
