Title:
MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2010/117051
Kind Code:
A1
Abstract:
A manipulator configured using elastic body-link mechanisms without using a wire mechanism.
A manipulator comprising: a pair of elastic body-link mechanisms each formed by serially connecting a link which has high bending rigidity and an elastic body which can bend and deform in a predetermined direction; an end section connected to the pair of elastic body-link mechanisms; and a drive means for independently driving the pair of elastic body-link mechanisms. The pair of elastic body-link mechanisms is disposed parallel to each other with a gap therebetween in such a manner that the elastic bodies are located on the same side and that the directions of bending and deformation of the elastic bodies face each other. The connection of the end section to each of the pair of elastic body-link mechanism is made to that portion of the elastic body which is on the side opposite to the link. The drive means performs driving by pushing and pulling the links of the pair of elastic body-link mechanisms in the direction in which the links are connected in series with the elastic bodies.
Inventors:
ARATA JUMPEI (JP)
FUJIMOTO HIDEO (JP)
FUJIMOTO HIDEO (JP)
Application Number:
PCT/JP2010/056420
Publication Date:
October 14, 2010
Filing Date:
April 09, 2010
Export Citation:
Assignee:
NAT UNIV CORP NAGOYA INST TECH (JP)
ARATA JUMPEI (JP)
FUJIMOTO HIDEO (JP)
ARATA JUMPEI (JP)
FUJIMOTO HIDEO (JP)
International Classes:
B25J17/02; A61B19/00; B25J17/00; F16H21/46
Foreign References:
| JP2000237987A | 2000-09-05 | |||
| JPH08164141A | 1996-06-25 |
Attorney, Agent or Firm:
YOU-I Patent Firm (JP)
Patent business corporation ゆうあい patent firm (JP)
Patent business corporation ゆうあい patent firm (JP)
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