| 摘要 |
A driving mechanism is provided comprising a spindle (3), which is rotatable and displaceable in two sleeves (11, 13) each rotatable by means of a separate motor and which is provided with a helical guide (7) having a lefthand direction of rotation and with a helical guide (9) having a righthand direction of rotation, which are in engagement with three pairs of rollers (39, 41) on a first sleeve (11) and three pairs of rollers (43, 45) on a second sleeve (13), respectively. A manipulator, which comprises rods (107, 109, 117, 119) displaceable in a plane at right angles to a main axis, which is provided with a driving mechanism of the kind mentioned above, to which an end effector is secured. |
