| 摘要 |
A manipulator suitable in particular for ultrahigh vacuum contains an arm in a bellows shell (14) capable of changing its shape. The arm carries a gripper (8). The arm has one or more of the following independent degrees of freedom of motion: a) axial longitudinal movement under extension or contraction of the bellows shell (14); b) pivoting in a cardanic suspension (11) about a first axis; c) pivoting in the cardanic suspension (11) about a second axis orientated perpendicularly to the first axis; d) bending about a first joint axis (3); e) bending about a second joint axis (5) which extends preferably parallel to the first joint axis (3); f) rotation about the longitudinal axis in the bellows shell (14), which does not rotate with the arm; g) opening and closing of the gripper (8). <IMAGE>
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