Patent ID: 8091448

Claim:
A manipulator with distributed actuation mechanism, said manipulator comprising: a first link; a second link; a joint for rotatably joining said first link and said second link; a connector having a first movable node at one end and a second movable node at the other end, said first movable node being provided in the first link and capable of linearly moving and rotating with respect to the first link, said second movable node being provided in the second link and capable of linearly moving and rotating with respect to the second link; actuators for providing power to linearly move said first movable node and said second movable node; and guides connected to said actuators for guiding said first movable node and said second movable node linearly, wherein said actuators are provided in both of said first link and said second link, and said guides are provided in both of said first link and said second link.