CN104589340A - Novel six-degree-of-freedom manipulator - Google Patents
Novel six-degree-of-freedom manipulator Download PDFInfo
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- CN104589340A CN104589340A CN201510055999.4A CN201510055999A CN104589340A CN 104589340 A CN104589340 A CN 104589340A CN 201510055999 A CN201510055999 A CN 201510055999A CN 104589340 A CN104589340 A CN 104589340A
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- servomotor
- mount pad
- whirligig
- decelerator
- linking arm
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Abstract
The invention provides a novel six-degree-of-freedom manipulator. The manipulator comprises a base (1), a first rotating device (2), a second rotating device (3), a first connecting arm (4), a third rotating device (5), a fourth rotating device (6), a second connecting arm (7), a fifth rotating device (8) and a sixth rotating device (9), wherein the first rotating device (2) is arranged on the base (1); the second rotating device (3) is arranged on the first rotating device (2); one end of the first connecting arm (4) is arranged on the second rotating device (3); the third rotating device (5) is arranged at the other end of the first connecting arm (4); the fourth rotating device (6) is arranged on the third rotating device (5); one end of the second connecting arm (7) is arranged on the fourth rotating device (6); the fifth rotating device (8) is arranged at the other end of the second connecting arm (7); the sixth rotating device (9) is arranged on the fifth rotating device (8). The manipulator has the advantages of simple structure, easiness in machining, low manufacturing cost, light whole weight, good bending resistance and torsion resistance properties, flexibility in movement and high positioning accuracy.
Description
Technical field
The present invention relates to industry mechanical arm technical field, particularly a kind of Novel six freedom manipulator.
Background technology
Industry manufactures processing enterprise and extensively adopts industrial robot to be the development trend in this year, the application of industrial robot not only can improve the yield and quality of product, and to guaranteeing personal safety, improves work situation, reduce labor intensity, what boost productivity has great significance.Industrial robot key technology is two aspects, mechanical construction and control system.A outstanding industrial robot should possess stable, light, frame for movement and have the control system of abundant Flexible Control, open modularization, fault self-diagnosis and security maintenance accurately.There is following shortcoming in industrial robot of the prior art: machine construction design comparison is complicated, and connection arm assembly adopts CNC fine finishining to form, and standardization is difficult to be formed, and cost of manufacture is higher.
Summary of the invention
For above-mentioned prior art, it is simple that technical problem to be solved by this invention is to provide a kind of structure, handling ease, low cost of manufacture, and overall weight is light, bending resistance and torsional property good, motion flexibly, the Novel six freedom manipulator that positioning precision is high.
In order to solve the problems of the technologies described above, the invention provides a kind of Novel six freedom manipulator, comprise pedestal, first whirligig, second whirligig, first linking arm, 3rd whirligig, 4th whirligig, second linking arm, 5th whirligig, 6th whirligig, described first whirligig is installed on described pedestal, described second whirligig is installed on described first whirligig, one end of described first linking arm is installed on described second whirligig, described 3rd whirligig is installed on the other end of described first linking arm, described 4th whirligig is installed on described 3rd whirligig, one end of described second linking arm is installed on described 4th whirligig, described 5th whirligig is installed on the other end of described second linking arm, described 6th whirligig is installed on described 5th whirligig, described in described first rotary device movement, the second whirligig rotates, described second whirligig drives described 3rd whirligig to rotate by the first linking arm, described 3rd whirligig drives described 4th whirligig to rotate, described 4th whirligig drives described 5th whirligig to rotate by described second linking arm, described 5th whirligig drives described 6th whirligig to rotate.
Further improvement of the present invention is, described pedestal comprises base plate, seat cylinder, and described seat cylinder is installed on described base plate.
Further improvement of the present invention is, described first whirligig comprises the first servomotor, the first servomotor mount pad, the first decelerator, described first servomotor is provided with the first servo motor output shaft, described first servomotor mount pad is installed on described seat cylinder, under described first servomotor is installed on described first servomotor mount pad, described first decelerator to be installed in described first servomotor mount pad and to be connected with described first servo motor output shaft.
Further improvement of the present invention is, described second whirligig comprises the second servomotor, second servomotor mount pad, second decelerator, first linking arm mount pad, described second servomotor is provided with the second servo motor output shaft, described second servomotor mount pad is installed on described first decelerator, described second servomotor is installed on inside described second servomotor mount pad, described second decelerator to be installed on outside described second servomotor mount pad and to be connected with described second servo motor output shaft, described first linking arm mount pad is installed on described second decelerator, one end of described first linking arm is installed on described first linking arm mount pad.
Further improvement of the present invention is, described 3rd whirligig comprises the 3rd servomotor, the 3rd servomotor mount pad, the 3rd decelerator, described 3rd servomotor is provided with the 3rd servo motor output shaft, described 3rd servomotor mount pad is installed on the other end of described first linking arm, described 3rd servomotor is installed on inside described 3rd servomotor mount pad, and described 3rd decelerator to be installed on outside described 3rd servomotor mount pad and to be connected with described 3rd servo motor output shaft.
Further improvement of the present invention is, described 4th whirligig comprises the 4th servomotor, 4th servomotor mount pad, 4th decelerator, second linking arm mount pad, described 4th servomotor is provided with the 4th servo motor output shaft, described 4th servomotor mount pad one outside be installed on described 3rd decelerator, described 4th servomotor is installed on inside described 4th servomotor mount pad one, described 4th decelerator be installed on described 4th servomotor mount pad another outside and be connected with described 4th servo motor output shaft, one end of described second linking arm is installed on described 4th decelerator by the second linking arm mount pad.
Further improvement of the present invention is, described 5th whirligig comprises the 5th servomotor, the 5th servomotor mount pad, the 5th decelerator, the 5th decelerator mount pad, described 5th servomotor is provided with the 5th servo motor output shaft, described 5th servomotor mount pad is installed on the other end of described second linking arm, described 5th servomotor is installed on hand hay cutter in described 5th servomotor mount pad, and described 5th decelerator to be installed on inside described 5th decelerator mount pad and to be connected with described 5th servo motor output shaft.
Further improvement of the present invention is, described 6th whirligig comprises the 6th servomotor, 6th servomotor mount pad, 6th decelerator, 6th decelerator mount pad, 3rd linking arm, described 6th servomotor is provided with the 6th servo motor output shaft, described 6th servomotor mount pad is installed on one end of described 3rd linking arm, the other end of described 3rd linking arm is fixedly installed in outside described 5th decelerator mount pad, under described 6th servomotor is installed on described 6th servomotor mount pad, described 6th decelerator to be installed on described 6th servomotor mount pad and to be connected with described 6th servo motor output shaft, described 6th decelerator mount pad is installed on described 6th decelerator.
Further improvement of the present invention is, described Novel six freedom manipulator also comprises tin soldering equipment and solder feedway, described tin soldering equipment is installed on described 6th decelerator mount pad, described solder feedway is installed on described 4th servomotor mount pad, and described solder feedway supply solder carries out scolding tin processing to described tin soldering equipment.
Further improvement of the present invention is, described first decelerator, the second decelerator, the 3rd decelerator, the 4th decelerator, the 5th decelerator, the 6th decelerator are all harmonic speed reducer.
Compared with prior art, the rotation in six axle joints of the present invention all adopts servomotor to be driven by harmonic speed reducer.Structure of the present invention is simple, handling ease, low cost of manufacture, and overall weight is light, bending resistance and torsional property good, flexibly, positioning precision is high in motion.
Accompanying drawing explanation
Fig. 1 is stereogram of the present invention;
Fig. 2 is the stereo unfolding figure of Fig. 1;
Fig. 3 is scolding tin operation schematic diagram of the present invention.
In figure, each component names is as follows:
1-pedestal;
11-base plate;
12-seat cylinder;
2-the first whirligig;
21-the first servomotor;
22-the first servomotor mount pad;
23-the first decelerator;
3-the second whirligig;
31-the second servomotor;
32-the second servomotor mount pad;
33-the second decelerator;
34-the first linking arm mount pad;
4-the first linking arm;
5-the three whirligig;
51-the three servomotor;
52-the three servomotor mount pad;
53-the three decelerator;
6-the four whirligig;
61-the four servomotor;
62-the four servomotor mount pad;
63-the four decelerator;
64-the second linking arm mount pad;
7-the second linking arm;
8-the five whirligig;
81-the five servomotor;
82-the five servomotor mount pad;
83-the five decelerator;
84-the five decelerator mount pad;
9-the six whirligig;
91-the six servomotor;
92-the six servomotor mount pad;
93-the six decelerator;
94-the six decelerator mount pad;
95-the three linking arm;
10-tin soldering equipment;
20-solder feedway.
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described.
As shown in Figures 1 and 2, a kind of Novel six freedom manipulator, comprise pedestal 1, first whirligig 2, second whirligig 3, first linking arm 4, 3rd whirligig 5, 4th whirligig 6, second linking arm 7, 5th whirligig 8, 6th whirligig 9, described first whirligig 2 is installed on described pedestal 1, described second whirligig 3 is installed on described first whirligig 2, one end of described first linking arm 4 is installed on described second whirligig 3, described 3rd whirligig 5 is installed on the other end of described first linking arm 4, described 4th whirligig 6 is installed on described 3rd whirligig 5, one end of described second linking arm 7 is installed on described 4th whirligig 6, described 5th whirligig 8 is installed on the other end of described second linking arm 7, described 6th whirligig 9 is installed on described 5th whirligig 8, described first whirligig 2 described second whirligig 3 that moves rotates, described second whirligig 3 drives described 3rd whirligig 5 to rotate by the first linking arm 4, described 3rd whirligig 5 drives described 4th whirligig 6 to rotate, described 4th whirligig 6 drives described 5th whirligig 8 to rotate by described second linking arm 7, described 5th whirligig 8 drives described 6th whirligig 9 to rotate.First linking arm 4, second linking arm 7 all adopts cylindric class part.
Particularly, as shown in Figures 1 and 2, described pedestal 1 comprises base plate 11, seat cylinder 12, and described base plate 11 is tabular class part, and described seat cylinder 12 is cylindric class part, and described seat cylinder 12 is fixedly installed on described base plate 11.Described first whirligig 2 comprises the first servomotor 21, first servomotor mount pad 22, first decelerator 23, described first servomotor mount pad 22 is discoid class part, described first servomotor 21 is provided with the first servo motor output shaft, described first servomotor mount pad 22 is fixedly installed on described seat cylinder 12, described first servomotor 21 is fixedly installed in described first servomotor mount pad 22 times, and described first decelerator 23 to be fixedly installed in described first servomotor mount pad 22 and to be fixedly connected with described first servo motor output shaft.Described second whirligig 3 comprises the second servomotor 31, second servomotor mount pad 32, second decelerator 33, first linking arm mount pad 34, described second servomotor mount pad 32, first linking arm mount pad 34 is all barrel-shaped class part, described second servomotor 31 is provided with the second servo motor output shaft, described second servomotor mount pad 32 is fixedly installed on described first decelerator 23, described second servomotor 31 is fixedly installed in inside described second servomotor mount pad 32, described second decelerator 33 to be fixedly installed in outside described second servomotor mount pad 32 and to be fixedly connected with described second servo motor output shaft, described first linking arm mount pad 34 is fixedly installed on described second decelerator 33, one end of described first linking arm 4 is fixedly installed on described first linking arm mount pad 34.Described 3rd whirligig 5 comprises the 3rd servomotor 51, 3rd servomotor mount pad 52, 3rd decelerator 53, described 3rd servomotor mount pad 52 is barrel-shaped class part, described 3rd servomotor 51 is provided with the 3rd servo motor output shaft, described 3rd servomotor mount pad 52 is fixedly installed in the other end of described first linking arm 4, described 3rd servomotor 51 is fixedly installed in inside described 3rd servomotor mount pad 52, described 3rd decelerator 53 to be fixedly installed in outside described 3rd servomotor mount pad 52 and to be fixedly connected with described 3rd servo motor output shaft.Described 4th whirligig 6 comprises the 4th servomotor 61, 4th servomotor mount pad 62, 4th decelerator 63, second linking arm mount pad 64, described 4th servomotor mount pad 62 is tubbiness class part, described second linking arm mount pad 64 is discoid class part, described 4th servomotor 61 is provided with the 4th servo motor output shaft, described 4th servomotor mount pad 62 one outside be fixedly installed on described 3rd decelerator 53, described 4th servomotor 61 is fixedly installed in inside described 4th servomotor mount pad 62 1, described 4th decelerator 63 be fixedly installed in described 4th servomotor mount pad 62 another outside and be fixedly connected with described 4th servo motor output shaft, one end of described second linking arm 7 is fixedly installed on described 4th decelerator 63 by the second linking arm mount pad 64.Described 5th whirligig 8 comprises the 5th servomotor 81, 5th servomotor mount pad 82, 5th decelerator 83, 5th decelerator mount pad 84, described 5th servomotor mount pad 82 is barrel-shaped class part, described 5th decelerator mount pad 84 is barrel-shaped class part, described 5th servomotor 81 is provided with the 5th servo motor output shaft, described 5th servomotor mount pad 82 is fixedly installed in the other end of described second linking arm 7, described 5th servomotor 81 is fixedly installed in hand hay cutter in described 5th servomotor mount pad 82, described 5th decelerator 83 to be fixedly installed in inside described 5th decelerator mount pad 84 and to be fixedly connected with described 5th servo motor output shaft.Described 6th whirligig 9 comprises the 6th servomotor 91, 6th servomotor mount pad 92, 6th decelerator 93, 6th decelerator mount pad 94, 3rd linking arm 95, described 6th servomotor mount pad 92, 6th decelerator mount pad 94 is all discoid class part, described 3rd linking arm 95 is barrel-shaped class part, described 6th servomotor 91 is provided with the 6th servo motor output shaft, described 6th servomotor mount pad 92 is fixedly installed in one end of described 3rd linking arm 95, the other end of described 3rd linking arm 95 is fixedly installed in outside described 5th decelerator mount pad 84, described 6th servomotor 91 is fixedly installed in described 6th servomotor mount pad 92 times, described 6th decelerator 93 is fixedly installed in described 6th servomotor mount pad 92 times and is fixedly connected with described 6th servo motor output shaft, described 6th decelerator mount pad 94 is fixedly installed on described 6th decelerator 93.Described first decelerator 23, second decelerator 33, the 3rd decelerator 53, the 4th decelerator 63, the 5th decelerator 83, the 6th decelerator 93 are all harmonic speed reducer.
The present invention can apply multiple industry, as the station that industrial welding and workpiece are removed, sprayed paint, the automaticity such as assembling is high, is relatively applicable to medium-sized and small enterprises and uses.As shown in Figure 3, when using the present invention to carry out scolding tin operation, tin soldering equipment 10 and solder feedway 20 also will be set, described tin soldering equipment 10 is fixedly installed on described 6th decelerator mount pad 94, described solder feedway 20 is fixedly installed on described 4th servomotor mount pad 62, and described solder feedway 20 is supplied solder and carried out scolding tin processing to described tin soldering equipment 10.Tin soldering equipment 10 and solder feedway 20 are not inventive points of the present invention, do not elaborate at this.
The present invention also comprises control system, and described control system comprises Programmable Logic Controller, motion-control module, servo+take controller, box touch-screen and photoelectric sensor are collected in teaching hand weaving, effectively can improve manipulator positioning precision.Described control system is for controlling the work of described first servomotor 21, second servomotor 31, the 3rd servomotor 51, the 4th servomotor 61, the 5th servomotor 81, the 6th servomotor 91, tin soldering equipment 10 and solder feedway 20.
Operation principle of the present invention: described first servomotor 21 works and drives described second servomotor mount pad 32 to rotate a fixed angle by the first decelerator 23, described second servomotor 31 works and drives the first linking arm mount pad 34 to rotate a fixed angle by the second decelerator 33, described 3rd servomotor 51 works and drives the 4th servomotor mount pad 62 to rotate a fixed angle by the 3rd decelerator 53, described 4th servomotor 61 works and drives the second linking arm mount pad 64 to rotate a fixed angle by the 4th decelerator 63, described 5th servomotor 81 works and drives the 5th decelerator mount pad 84 to rotate a fixed angle by the 5th decelerator 83, described 6th servomotor 91 works and drives the 6th decelerator mount pad 94 to rotate a fixed angle by the 6th decelerator 93, described solder feedway 20 is supplied solder and is carried out scolding tin operation to described tin soldering equipment 10.
The present invention compared with prior art has following beneficial effect:
1. cost is low: because body of the present invention, control system adopt fairly simple frame for movement to realize the control of six axle joint machines, and its structure is simple, simple to operate understandable, realizes domestic production completely.
2. overall structure is simple, stability is high, is applicable to the plant produced operation of high strength.Adopt cylinder-shaped link, increase the bending resistance of constitutional detail and antitorque coefficient, multiple industry can be applied, as the station that industrial welding and workpiece are removed, sprayed paint, the automaticity such as assembling is high, be relatively applicable to medium-sized and small enterprises and use.
3. positioning precision is high: the control system of this manipulator adopts Programmable Logic Controller, motion-control module, servo+take controller, box touch-screen and photoelectric sensor are collected in teaching hand weaving, the wherein each axle run-length data of manipulator and positional information and feed back to Programmable Logic Controller, the servomotor of controller to each axle is controlled, motor encoder gives controller data feedback, thus can ensure the accurate location of manipulator.
The invention has the advantages that, the rotation in six axle joints of the present invention all adopts servomotor to be driven by harmonic speed reducer.Structure of the present invention is simple, handling ease, low cost of manufacture, and overall weight is light, bending resistance and torsional property good, flexibly, positioning precision is high in motion.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. a Novel six freedom manipulator, it is characterized in that: comprise pedestal (1), first whirligig (2), second whirligig (3), first linking arm (4), 3rd whirligig (5), 4th whirligig (6), second linking arm (7), 5th whirligig (8), 6th whirligig (9), described first whirligig (2) is installed on described pedestal (1), described second whirligig (3) is installed on described first whirligig (2), one end of described first linking arm (4) is installed on described second whirligig (3), described 3rd whirligig (5) is installed on the other end of described first linking arm (4), described 4th whirligig (6) is installed on described 3rd whirligig (5), one end of described second linking arm (7) is installed on described 4th whirligig (6), described 5th whirligig (8) is installed on the other end of described second linking arm (7), described 6th whirligig (9) is installed on described 5th whirligig (8), described first whirligig (2) move described second whirligig (3) rotate, described second whirligig (3) drives described 3rd whirligig (5) to rotate by the first linking arm (4), described 3rd whirligig (5) drives described 4th whirligig (6) to rotate, described 4th whirligig (6) drives described 5th whirligig (8) to rotate by described second linking arm (7), described 5th whirligig (8) drives described 6th whirligig (9) to rotate.
2. Novel six freedom manipulator as claimed in claim 1, it is characterized in that: described pedestal (1) comprises base plate (11), seat cylinder (12), described seat cylinder (12) is installed on described base plate (11).
3. Novel six freedom manipulator as claimed in claim 2, it is characterized in that: described first whirligig (2) comprises the first servomotor (21), first servomotor mount pad (22), first decelerator (23), described first servomotor (21) is provided with the first servo motor output shaft, described first servomotor mount pad (22) is installed on described seat cylinder (12), under described first servomotor (21) is installed on described first servomotor mount pad (22), described first decelerator (23) to be installed in described first servomotor mount pad (22) and to be connected with described first servo motor output shaft.
4. Novel six freedom manipulator as claimed in claim 3, it is characterized in that: described second whirligig (3) comprises the second servomotor (31), second servomotor mount pad (32), second decelerator (33), first linking arm mount pad (34), described second servomotor (31) is provided with the second servo motor output shaft, described second servomotor mount pad (32) is installed on described first decelerator (23), described second servomotor (31) is installed on described second servomotor mount pad (32) inner side, described second decelerator (33) is installed on described second servomotor mount pad (32) outside and is connected with described second servo motor output shaft, described first linking arm mount pad (34) is installed on described second decelerator (33), one end of described first linking arm (4) is installed on described first linking arm mount pad (34).
5. Novel six freedom manipulator as claimed in claim 4, it is characterized in that: described 3rd whirligig (5) comprises the 3rd servomotor (51), 3rd servomotor mount pad (52), 3rd decelerator (53), described 3rd servomotor (51) is provided with the 3rd servo motor output shaft, described 3rd servomotor mount pad (52) is installed on the other end of described first linking arm (4), described 3rd servomotor (51) is installed on described 3rd servomotor mount pad (52) inner side, described 3rd decelerator (53) is installed on described 3rd servomotor mount pad (52) outside and is connected with described 3rd servo motor output shaft.
6. Novel six freedom manipulator as claimed in claim 5, it is characterized in that: described 4th whirligig (6) comprises the 4th servomotor (61), 4th servomotor mount pad (62), 4th decelerator (63), second linking arm mount pad (64), described 4th servomotor (61) is provided with the 4th servo motor output shaft, described 4th servomotor mount pad (62) one outside be installed on described 3rd decelerator (53), described 4th servomotor (61) is installed on inside described 4th servomotor mount pad (62), described 4th decelerator (63) be installed on described 4th servomotor mount pad (62) another outside and be connected with described 4th servo motor output shaft, one end of described second linking arm (7) is installed on described 4th decelerator (63) by the second linking arm mount pad (64).
7. Novel six freedom manipulator as claimed in claim 6, it is characterized in that: described 5th whirligig (8) comprises the 5th servomotor (81), 5th servomotor mount pad (82), 5th decelerator (83), 5th decelerator mount pad (84), described 5th servomotor (81) is provided with the 5th servo motor output shaft, described 5th servomotor mount pad (82) is installed on the other end of described second linking arm (7), described 5th servomotor (81) is installed on hand hay cutter in described 5th servomotor mount pad (82), described 5th decelerator (83) is installed on described 5th decelerator mount pad (84) inner side and is connected with described 5th servo motor output shaft.
8. Novel six freedom manipulator as claimed in claim 7, it is characterized in that: described 6th whirligig (9) comprises the 6th servomotor (91), 6th servomotor mount pad (92), 6th decelerator (93), 6th decelerator mount pad (94), 3rd linking arm (95), described 6th servomotor (91) is provided with the 6th servo motor output shaft, described 6th servomotor mount pad (92) is installed on one end of described 3rd linking arm (95), the other end of described 3rd linking arm (95) is fixedly installed in described 5th decelerator mount pad (84) outside, under described 6th servomotor (91) is installed on described 6th servomotor mount pad (92), described 6th decelerator (93) is installed on described 6th servomotor mount pad (92) and goes up and be connected with described 6th servo motor output shaft, described 6th decelerator mount pad (94) is installed on described 6th decelerator (93).
9. Novel six freedom manipulator as claimed in claim 8, it is characterized in that: described Novel six freedom manipulator also comprises tin soldering equipment (10) and solder feedway (20), described tin soldering equipment (10) is installed on described 6th decelerator mount pad (94), described solder feedway (20) is installed on described 4th servomotor mount pad (62), and described solder feedway (20) supply solder carries out scolding tin processing to described tin soldering equipment (10).
10. Novel six freedom manipulator as claimed in claim 8 or 9, is characterized in that: described first decelerator (23), the second decelerator (33), the 3rd decelerator (53), the 4th decelerator (63), the 5th decelerator (83), the 6th decelerator (93) are all harmonic speed reducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510055999.4A CN104589340B (en) | 2015-02-03 | 2015-02-03 | A kind of six degree of freedom mechanical manipulators |
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|---|---|---|---|
| CN201510055999.4A CN104589340B (en) | 2015-02-03 | 2015-02-03 | A kind of six degree of freedom mechanical manipulators |
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| CN104589340B CN104589340B (en) | 2016-06-08 |
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Cited By (5)
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| CN105196289A (en) * | 2015-10-29 | 2015-12-30 | 武汉理工大学 | 6DOF (6 degree of freedom) light weight manipulator with embedded joints |
| CN105215986A (en) * | 2015-11-11 | 2016-01-06 | 深圳市松崎机器人自动化设备有限公司 | A kind of multi-spindle machining hand |
| CN105216008A (en) * | 2015-10-15 | 2016-01-06 | 浙江思玛特机器人科技有限公司 | A kind of construction package for four axle robots |
| CN105328697A (en) * | 2015-11-12 | 2016-02-17 | 深圳职业技术学院 | Modularized six-degree-freedom mechanical hand and control method thereof |
| CN105437225A (en) * | 2015-08-05 | 2016-03-30 | 台州学院 | Six-degree-of-freedom manipulator |
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