| 摘要 |
PROBLEM TO BE SOLVED: To control the operation of the position and attitude by composing a manipulator of an operation arm for controlling the position and a specific operation arm for controlling the attitude of an operation body. SOLUTION: Operation arms are used for controlling the position, and the operation arms 13d-f are used for controlling the attitude. In the control of position, the x, y, z axes forming an operation body having a specific point as an origin, are inclined with respect to the X, Y, Z axes forming a three- dimensional space. The operation body 12 is formed by a triangular pyramid- shaped convex part 111 and a triangular flange 112 outwardly extending from a bottom of the convex part 111. The operation arms are respectively connected to side surfaces of the triangular pyramid-shaped convex part 111, and the operation arms 13d-f are respectively connected near a top of an upper surface side of the triangular flange part 112. A gripping device and the like for gripping and moving the parts is mounted on the bottom of the convex part 111 and the lower part of the flange part, besides of a drilling machine, a laser beam machine and the like for working the parts.
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