ORTHOGONAL TYPE OPERATOR FOR MANIPULATOR

摘要

PURPOSE:To reduce an operation force and to increase the force sensibility thereof by providing a rod or wire by perpendicularly intersecting to two wires spread by intersecting perpendicularly further thereon and providing servomotor and encoder thereon respectively. CONSTITUTION:A grip 27 is provided at the intersection part of each 1st, 2nd wire 24x, 24y obtd. by intersecting perpendicularly. On this grip 27, a 3rd wire 24z whose direction of a composite tension is perpendicularly intersected or the rod whose axial direction is perpendicularly intersected to each 1st, 2nd wire is provided. Moreover, the encoder for operation command of a manipulator and servomotor for adding force to the grip according to the external force received by the manipulator are provided at each end part of the both sides of each 1st, 2nd wire, each end part of the both sides of a 3rd wire or one part of the end part of a rod. Each 1st, 2nd wire linking this grip, encoder and servomotor, and 3rd wire or rod have small inertia either and no loose gap, so the grip operation force is reduced.