| 摘要 |
A manipulator mechanism comprises a support member shown as a tool plate (10) connected, by first universal joints (11) at at least three positions triangularly disposed thereon, to at least six rods (12) longitudinally moveably supported in bearings carried by second universal joints (13,32) hexagonally disposed in a mounting member (14), such that the position and attitude of the tool plate (10) in space relative to the bearings is fully defined by the lengths of the rods (12) between the respective joints (11) and bearings, and these lengths may be altered by driving the rods (12) up and down through the bearings by motors (44) and drive means (21,22,31,41,45) mounted thereon. <IMAGE>
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