Murata Kikai Kabushiki Kaisha

Koichi Osuka

Yoichi Nakamura

Then an end effecter is used to operate a heavy object, a large bending moment may act on arms of a manipulator to bend them. Consequently, an operating section cannot precisely control positions. Thus, according to the present invention, three armsare attached to a base section, each of the armsbeing composed of a first link sectionhaving one end connected to a rotating shafton the base sectionand a second link sectionconnected to the first link sectionvia another rotating shaft. These armssupport an operating section. The second link sectionis connected to the rotating shaftand to the operating sectionusing universal jointsandDirect acting driving meansis composed of a driving shaftand a driving source that advances and retreats the driving shaftThe driving shaftis driven to advance and retreat to move the operating sectionto a desired position. In this case, the operating sectionis always kept parallel with a particular plane. Loads on the operating sectionact in the axial directions of the driving shaftsThis prevents the driving shaftsfrom being bent or deformed, thus enabling precise positional control.

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Kyoto, Japan

Koichi Osuka