| 摘要 |
A manipulator has an end effector with a tool end movable with respect to a reference base by means of a multi-axis joint system. The joint system is contained within a housing to provide the relative movement through a mechanical power train. Fluid ducts are provided through both a first, duct component and a second, end effector power train component having an internal duct, extending into a housing plenum at first and second points, thereby providing fluid communication between the plenum and end effector. The housing has relatively movable sealed sections, and sealing means are provided at the interface of said first and second duct components with the housing. |
