Patent ID: 8413538

Claim:
An articulated manipulator comprising: a base body to be mounted on an installation surface where the articulated manipulator is installed; a first arm body having a first end portion, a second end portion opposite to the first end portion, and a first rotation axis that is parallel to a longitudinal axis of the first arm body; a first joint part connecting the base body and the first end portion of the first arm body rotatably around the first rotation axis; a second arm body having a third end portion, a fourth end portion opposite to the third end portion, and a second arm center axis; a second joint part connecting the second end portion of the first arm body and the third end portion of the second arm body rotatably around a second rotation axis that is substantially perpendicular to the first rotation axis, the second end portion of the first arm body being connected to one side of the second joint part, the third end portion of the second arm body being connected to another side of the second joint part opposite to the one side; a third arm body having a fifth end portion, a sixth end portion opposite to the fifth end portion, and a third rotation axis; and a third joint part connecting the fourth end portion of the second arm body and the fifth end portion of the third arm body rotatably around the third rotation axis that is substantially perpendicular to the second rotation axis and that is aligned with the second arm center axis, wherein when the first, second and third arm bodies are all erected with respect to the installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.