Title:
MANIPULATOR
Document Type and Number:
WIPO Patent Application WO/2015/190185
Kind Code:
A1
Abstract:
A manipulator (1) provided with a joint mechanism (4), which links an end effector (3) with a trunk (2) via two linking members (61, 62). The joint mechanism (4) is provided with: a first joint (11) for pivotally linking the end effector (3) with the linking member (61); a second joint (12) for linking the linking members (61, 62) to each other so as to be able to pivot around a second axis (A2); a third joint (13) for linking the linking member (62) with the trunk (2) so as to be able to pivot around a third axis (A3) that is parallel to the axis (A2); and a pair of restricting members (71, 72), which have a constant length, hold the second and third axes (A2, A3) therebetween in the radial direction, and are disposed in a crossed form wherein the members cross each other only one time between the second and third joints (12, 13).
Inventors:
KISHI KOSUKE (JP)
Application Number:
PCT/JP2015/062779
Publication Date:
December 17, 2015
Filing Date:
April 28, 2015
Export Citation:
Assignee:
OLYMPUS CORP (JP)
International Classes:
B25J17/02; A61B19/00
Domestic Patent References:
| WO2010109932A1 | 2010-09-30 |
Foreign References:
| JP2004122286A | 2004-04-22 | |||
| JP2010221329A | 2010-10-07 |
Other References:
See also references of EP 3156194A4
Attorney, Agent or Firm:
UEDA, Kunio et al. (JP)
Ueda Kunio (JP)
Ueda Kunio (JP)
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