| 摘要 |
<p>A remote manipulator comprises a support component having a first axis, an arm (2) pivoted to the support component and movable in a plane which passes through the first axis, the arm having a second axis (8), a forearm (5) pivoted to the arm and movable in a plane which passes through the second axis, and a tool located at the end of the forearm, wherein rotation of the forearm (5) about its joint (6) with the arm is controlled by a first bevel gear (20) whose axis is perpendicular to the axis of the joint (6) and which is made to rotate by a motor located inside the arm, the first gear (20) meshing with a second bevel gear (21) which rotates freely about its axis and is coaxial with the axis of the joint (6) the second gear (21) meshing with at least one third bevel gear (22) which is identical to the first bevel gear (20) and whose axis is perpendicular to the axis of the joint (6) and which rotates freely on its shaft which shaft is made fast to the forearm (5) and stationary with respect thereto, the third gear (22) meshing with a fourth gear (27) which is stationary relative to the arm (2) and is coaxial with the axis of the joint (6), its teeth being identical to those of the second gear (21). <IMAGE></p> |
