Mitsubishi Heavy Industries Limited

Kiyoshi Hirokawa

Naoto Kawauchi

A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and at least one bellows container. The arm includes a plurality of joints and links. The plurality of the servo motors are disposed in a first space in the arm and capable of driving each of the plurality of the joints. The plurality of the servo amplifiers are disposed in the first space and each of the plurality of the servo amplifiers controls each of the plurality of the servo motors. The at least one bellows container with one closed end which is positioned away from the arm and another open end includes a second space which is connected to the first space at the open end. In the manipulator, each of the first space and the second space is filled with oil, and each of the plurality of the servo amplifiers is connected with a cable for serial communication or power-line carrier communication.

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Tokyo, Japan

Kiyoshi Hirokawa