PURPOSE: To provide an articulated manipulator which is constituted to facilitate insertion of a cable for an end effector into an internal hole even when a diameter is reduced and be brought into a sufficient practical use.
CONSTITUTION: A plurality of curved parts 10A and 10B having a plurality of annular members 12a, 12b, 12c and 14a, 14b, 14c, respectively, concentrically intercoupled and curved in a given direction are linearly arranged and the adjoining two curved parts are coupled to each other in a manner to be curved in directions different from each other. Each of the curved parts 10A and 10B comprises an elongated sheet (an SAM sheet) 28 made of a shape memory alloy to selectively curve the curved parts, corresponding to each other, in a given direction; and a plurality of actuators consisting of wiring base sheets 36 and 38 electrically coupled thereto and ICs 34 and 54 for controlling heating. A notch 24 linearly extended along the central lines of a plurality of the curved parts 10A and 10B is formed in a plurality of the annular members 12a-12c, and 14a-14c of a plurality of the curved parts 10A and 10B.
KANEKO SHINJI
HIRATA YASUO
UEDA YASUHIRO
