| 摘要 |
A manipulator having six degrees of freedom includes a moving plate having six moving points arranged with substantial equal angles therebetween, an upper fixed plate having six upper fixed points arranged with substantial equal angles therebetween, the upper fixed plate being positioned above the moving plate and being spaced apart from the moving plate, a lower fixed plate having six lower fixed points arranged with substantial equal angles therebetween, the lower fixed plate being positioned under the moving plate and being spaced apart from the moving plate. In order to connect one moving point to one upper fixed point and one lower fixed point, respectively, thereby enabling the moving plate to move relatively to the upper and the lower fixed plates with six degrees of freedom and to detect distance variations between the one moving point and the one upper fixed point, and between the one moving point and the one lower fixed point, when the moving plate moves, the manipulator includes a first spool, a second spool, a first wire, a second wire, a first shaft encoder and a second shaft encoder.
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