PURPOSE: To provide a manipulator which can reduce the dimension and weight of a joint part. ;CONSTITUTION: A manipulator is equipped with a base edge side arm 11, top edge side arm 16 which is connected in relatively turnable manner through a bearing 14 on the top edge side arm 16, and an arm driving motor 18 which is installed between the top edge side arm 16 and the base edge side arm 11 and drives the top edge side arm 16 for the base edge side arm 11, and the arm driving motor 18 has a rotor 18e in cylindrical form, and revolution sensors 34 and 36 are accommodated inside the rotor 18e of the arm driving motor 18, and the rotor 18e of the arm driving motor 18 is formed to a cylindrical form, and the length of a joint part can be reduced by accommodating the revolution sensors 34 and 36 in the cylindrical rotor 18e.;COPYRIGHT: (C)1994,JPO&Japio
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