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Manipulator

  • US 7,717,904 B2
  • Filed: 04/05/2006
  • Issued: 05/18/2010
  • Est. Priority Date: 04/07/2005
  • Status: Expired due to Fees
First Claim
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1. A manipulator including a working part for implementing a work and an operating part for implementing an operation, the operation in the said operating part being transmitted to the said working part, and force acted on the said working part being transmitted to the said operating part as force sensation comprising:

  • at least four driving rods provided between said working part and said operating part;

    opposite ends of said driving rod coupled with said working part and said operating part via coupling members of the same structure;

    longitudinal axes of said respective driving rods are directed in parallel and at least longitudinal axes of all the driving rods being arranged not to be in the same plane; and

    said coupling members on sides of the operating part and said working part forcing said respective driving rods to be moved axially in conformity with the operation said the operating part while keeping them in parallel and driving said working part correspondingly to the operation of said operation part, each of said coupling members having a central axis;

    wherein said operating part comprises a first and a second operating member, said first and said second operating member being coupled rotatably to said coupling member on the side of said operating part taking said central axis of said coupling member on the side of said operating part as an axis,said working part comprises a first and a second working member, and said first and said second working member being coupled rotatably with said coupling member of the side of said working part taking said central axis of said coupling member as an axis;

    at least a first and a third driving member of said driving rods are coupled with one side of said coupling member with respect to said central axis respectively independently rotatably, and at least a second and a fourth driving member of said driving rods are coupled with the other side of said coupling member with respect to said central axis respectively independently rotatably;

    a first operating member is coupled with said first working member via a first and a second driving rod of said four driving rods, and said second operating member being coupled with said second working member via a third and a fourth driving rod of said four driving rods;

    when it is assumed that the direction of the axis of said driving rods is an X axis direction, and directions perpendicular to the X-axis are Y-axis and Z-axis directions respectively,when said first and said second operating member are both rotated around the Y-axis, at least said first and said second driving rod are both rotated in a first direction via said coupling member, and said third and said fourth driving rod move oppositely to said first direction to both rotate said first and said second working members around the Y-axis;

    when said first and said second operating members are both rotated around Z-axis, at least said first and said third driving rod are both rotated in a first direction, and said second and said fourth driving rod move oppositely to said first direction to both rotate said first and said second working member;

    when said first operating member is rotated around Z-axis, one of said first and said second driving rod is rotated in a first direction and the other moves in the opposite direction to rotate said first working member around Z-axis; and

    when said second operating member is rotated around Z-axis, one of said third and said fourth driving rod is rotated in the first direction and the other moves in the opposite direction to the first direction to rotate said second working member around Z-axis.

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