Patent ID: 9713874
Date: 2017-07-25
CPC Classifications: B25J,Y10T

Claim:
1. A manipulator comprising: a joint assembly including a plurality of joints included in a base section and terminal section of the joint assembly, the plurality of joints being interconnected; and a wire driving actuator adjacent to the base section, the wire driving actuator configured to bend the base section of the joint assembly in plural directions via a plurality of base section driving wires and to bend the terminal section via a plurality of terminal section driving wires, the wire driving actuator including at least one base section driving lever and at least one terminal section driving lever, the at least one base section driving lever configured to drive the base section driving wires and the at least one terminal section driving lever configured to drive the terminal section driving wires, the terminal section driving wires passing through the base section driving lever such that the terminal section driving wires are operatively connected to the base section driving wires and, when the base section bends, the terminal section driving wires are moved by a distance equal to a movement distance of the base section driving wires.