PROBLEM TO BE SOLVED: To provide a wire drive type three degree-of-freedom joint mechanism which has a large movable range and can easily calculate a wire path length.SOLUTION: A wire drive type three degree-of-freedom joint mechanism 1 comprises: a base part member 4 which is so connected to a stationary part 2 as to be rotatable around a first rotation axis Z; an intermediate member 6 which is so connected to the base part member as to be rotatable around a second rotation axis Y which crosses the first rotation axis; and a tip member 8 which is so connected to the intermediate member as to be rotatable around a third rotation axis X which passes a cross point of the first rotation axis and the second rotation axis. In the joint mechanism, a wire path for a wire is so set as to capable of independently rotating the base part member, the intermediate member, and the tip member around the first rotation axis, the second rotation axis, and the third rotation axis respectively by tensile forces of a first tip side wire 30a, a second tip side wire 30b, a third tip side wire 30c, and the a fourth wire 28d.SELECTED DRAWING: Figure 3
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