Manipulator

摘要

A manipulator whose economic efficiency and reliability are raised by reducing the size and weight of the system through the backup by a common specification drive circuit and actuator when a fault occurs is provided. Thus, the actuator of the end effector is made so as to have the common structure as the actuators of the multiple joints, so that they are driven by a common specification drive unit. Two systems which can be switched are provided in the actuator of the end effector and additionally, a spare drive unit is provided.