Patent ID: 6668678
Filing Date: 2003-12-30
Classification: B25J,Y10T

Abstract:
A manipulator provided in combination with a supporting base, comprising:a plurality of joints disposed on said manipulator; a pulley disposed at each of said plurality of joints, respectively; a plurality of motors disposed on said supporting base; an endless wire for each of said pulleys, wherein each of said endless wires has an appointed portion fixed to said pulley, wherein each of said endless wires is rotated by one of said plurality of motors, respectively; and a flexible tube for each of said endless wires, wherein each of said endless wires is inserted into said flexible tube, respectively, each of said flexible tubes having one end fixed in the vicinity of a side of said respective pulley and another end fixed in the vicinity of said respective motor; and wherein each of said plurality of pulleys corresponds to a different one of said plurality of motors so that each of said plurality of pulleys disposed on said manipulator is driven by a separate one of said plurality of motors disposed on said supporting base, in one-to-one correspondence.