초록 ▼

A multi-degree-of-freedom manipulator includes a flexible tube having a plurality of flex portions provided therealong, a plurality of actuators made of shape memory alloy and respectively provided near the flex portions to correspond to the flex portions, for flexing the flex portions, two common e

A multi-degree-of-freedom manipulator includes a flexible tube having a plurality of flex portions provided therealong, a plurality of actuators made of shape memory alloy and respectively provided near the flex portions to correspond to the flex portions, for flexing the flex portions, two common energy transmission paths, extending along the flexible tube, for transmitting an energy to the actuators, and selective energy supply members, provided between the common energy transmission paths and the actuators in series, for controlling the energy supplied from the common energy transmission path to the actuators, thereby respectively independently driving the actuators to bend the flexible tube.

대표청구항 ▼

A multi-degree-of-freedom manipulator comprising: an elongated main body having, at least at part thereof, a plurality of flex portions provided therealong; a plurality of actuators, respectively provided near said flex portions to correspond to said flex portions, for flexing said flex portions; tw

A multi-degree-of-freedom manipulator comprising: an elongated main body having, at least at part thereof, a plurality of flex portions provided therealong; a plurality of actuators, respectively provided near said flex portions to correspond to said flex portions, for flexing said flex portions; two common energy transmission paths, extending along said main body, for transmitting an energy to said plurality of actuators; a plurality of selective energy supply means, respectively provided near said flex portions and respectively coupled with said plurality of actuators electrically in circuit between said two common energy transmission paths, for controlling the energy supplied from said two common energy transmission paths to said plurality of actuators, thereby respectively independently driving said plurality of actuators; and at least one common control signal transmission path independent of said two common energy transmission paths, for transmitting a control signal to said plurality of selective energy supply means, thereby causing said selective energy supply means to control said plurality of actuators. A multi-degree-of-freedom manipulator comprising: an elongated main body having, at least at part thereof, a plurality of articulated portions arranged therealong and connecting portions for flexibly connecting adjacent ones of said articulated portions; actuators each having two ends attached, respectively, to two of said plurality of articulated portions to span at least one of said connecting portions positioned between said both ends, for flexibly driving at least one of said two articulated portions through the spanned one of said connecting portions; at least one actuator control chip array having a plurality of drive control electronic circuit chips, attached to respective ones of said plurality of articulated portions and flexible wiring for electrically connecting adjacent said plurality of drive control electronic circuit chips in series, said plurality of drive control electronic circuit chips being electrically coupled to said actuators, respectively; and means for supplying a driving energy to said actuators selected through said electronic circuit chips, wherein said articulated manipulator has at least one degree of freedom with respect to each of said actuator control electronic circuit chips.