JPH09296856A - Floating differential mechanism and manipulator using it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a differential mechanism having a new structure, and a manipulator using it. SOLUTION: An interference driving mechanism 20 is provided with a pair of differential driving sources 21, 22. When rotary shafts 23, 24 are rotated in the mutual opposite directions, bevel gears 25, 26 rotates and drives a first output shaft 21 through bevel gears 28, 29. When they are rotated in the same direction, bodies 33, 34 are rotated, and a spur gear 42 of a second output shaft 41 is driven through spur gears 39, 40. As the differential driving sources 21, 22, an electric motor for supplying power through a step ring can be used.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floating differential mechanism for differentially extracting a rotational driving force from two output shafts and a manipulator using the same.

[0002]

2. Description of the Related Art Conventionally, a differential mechanism, which is a basic mechanical element having three input ports, has been widely used as a differential device for automobiles by utilizing a bevel gear or the like. In order to improve the running performance of a vehicle, the differential device of a vehicle prevents the driving wheels from having a difference in inner and outer diameters when the vehicle makes a curve and causes a loss of driving force such as slip when driven to rotate at the same rotational speed. Used for. The role of the differential mechanism in the differential device can be adjusted so that if there is a difference in rotational speed between the two rotary shafts, the difference is adjusted so that a loss in driving force does not occur. For the combined differential mechanism that combines the differential mechanism,
"Design and Drawing" magazine, vol. 21, No. 10 (1986
October issue), pages 12-16.

[0003]

Various manipulators and articulated robots are required to have light weight and high output characteristics. With such a manipulator,
One actuator is arranged for one degree of freedom,
Each actuator is associated and controlled to perform the overall operation. Since one actuator is assigned to each degree of freedom, the output that can be exerted in each degree of freedom depends on the output of the actuator,
The output of the actuator cannot be exceeded.

It is an object of the present invention to provide a floating differential mechanism which is lightweight and capable of high output, and which has a concept completely different from that of the conventional differential mechanism, and a manipulator using the same.

[0005]

SUMMARY OF THE INVENTION According to the present invention, a rotary shaft for extracting a rotary output, a power source for driving the rotary shaft, a rotary shaft are housed, and an axial line of the rotary shaft is generated by a reaction force from the rotary shaft. A floating differential mechanism comprising a differential drive source including a casing rotatable around the differential drive source. According to the present invention, the driving force is generated between the rotary shaft and the casing by the power generation source. If the casing is fixed, the rotation output can be taken out only from the rotation shaft. Since the casing can rotate around the axis of the rotating shaft, if the rotating shaft is fixed, the casing rotates due to the reaction force from the rotating shaft, and the rotational driving force can be taken out from the casing. If both the rotary shaft and the casing are rotatable, the rotation output can be differentially taken out from the rotary shaft and the casing by driving by the power generation source.

In the present invention, the drive source is an electric motor, the rotary shaft is an output shaft of the electric motor, the casing is a body of the electric motor, and a slip ring for supplying electric power to the electric motor is provided. It is characterized by being provided. According to the present invention, the rotational force can be differentially taken out from the rotating shaft and the body of the electric motor. Since the electric power is supplied to the electric motor through the slip ring, the electric power can be effectively supplied even if the body of the electric motor rotates indefinitely.

Further, according to the present invention, the rotary shaft is rotatably driven by the power generation source via a speed reduction mechanism provided in the casing. According to the present invention, the rotary shaft that takes out one of the differential outputs is rotationally driven from the power generation source via the speed reduction mechanism provided in the casing that takes out the other of the differential outputs. Although the power generation source can be housed in the casing, it can be fixed to the outside of the casing so that only the rotational drive is performed. Since the reduction mechanism is interposed between the drive shaft and the rotary shaft that takes out the output of the differential mechanism, the torque generated on the drive shaft will be small if the reduction ratio is sufficiently large, and the torque generated between the rotary shaft and the casing will be small. It is possible to accurately extract the differential rotation output of. Since only the drive shaft of the power generation source provided outside needs to be rotated, the body can be fixed. When driven by electric power, electric power can be supplied without passing through slip rings, etc.
Further, it is easy to supply the working fluid and the fuel when the rotational drive is performed by the energy source different from the electric power.

Further, the present invention comprises a pair of the differential drive sources, wherein the rotational force from the rotary shaft of one differential drive source and the rotary force from the rotary shaft or the casing of the other differential drive source. The rotational force is expressed as a sum when rotating in the same direction, and as a difference when rotating in the opposite direction. The first output shaft to be combined, the rotational force from the casing of one differential drive source, and the other differential And a second output shaft that combines the rotational force of the drive source and the rotational force from the other of the casings as a difference when rotating in the same direction and as a sum when rotating in the opposite direction. To do. According to the present invention, the rotary outputs from the pair of power generation sources can be combined and taken out from the first output shaft and the second output shaft, respectively. The selection for extracting the output from the first output shaft and the second output shaft can be switched depending on whether the rotation directions of the respective power generation sources are the same direction or the opposite directions. Since the rotation output from the maximum two power generation sources can be taken out to the first output shaft or the second output shaft, twice the output can be obtained as compared with the case where the power generation sources are individually used. It can be retrieved and the two outputs can be selectively used.

Further, in the present invention, the first output shaft combines the rotational forces from the pair of rotary shafts, and the second output shaft combines the rotational forces from the pair of casings. . According to the invention, the first output shaft combines the rotational forces from the pair of rotary shafts, and the second output shaft combines the rotational forces from the pair of casings. The rotational force from the first output shaft is obtained as an output by rotationally driving in the direction, and the rotational force from the second output shaft is obtained as an output by rotating the output shaft in different directions with respect to the casing.

Further, in the present invention, the pair of rotary shafts extend in parallel and are coupled to a first output shaft perpendicular to the rotary shafts via bevel gears respectively attached to the tips, and the pair of casings are It is characterized in that it is connected to a second output shaft parallel to each rotation shaft via a spur gear mounted on the outer peripheral portion. According to the present invention, the first output shaft is perpendicular to each rotation shaft and the second output shaft is parallel to each rotation shaft, so that the first output shaft and the second output shaft are perpendicular to each other. Since the rotation output twice as much as that of the power generation source can be taken out from the mutually perpendicular output shafts, a high output can be obtained with a light weight, and the range of application of the differential mechanism can be expanded.

Further, according to the present invention, the rotary shaft for taking out the rotary output, the power source for driving the rotary shaft, and the rotary shaft are housed, and the rotary shaft can be rotated around the axis of the rotary shaft by the reaction force from the rotary shaft. A differential drive source including a casing is provided, and the rotational force from the rotary shaft of one differential drive source and the rotational force from the rotary shaft of the other differential drive source or the casing are the same. Direction when rotating in the same direction, and when rotating in the opposite direction as a difference, the first motion mechanism driven by the combined first output shaft, the rotational force from the casing of one differential drive source, and the other. The rotational force of the rotary shaft of the differential drive source or the rotational force from the other of the casings is driven as a difference when rotating in the same direction and as a sum when rotating in the opposite direction, and is driven by a second output shaft that combines, The 1 motion mechanism is a manipulator, characterized in that it comprises a different second motion mechanism. According to the present invention, it is possible to differentially extract the rotational driving force from the first output shaft and the second output shaft to drive the first motion mechanism and the second motion mechanism different from the first motion mechanism. it can. The first motion mechanism and the second motion mechanism can be driven with a double output as compared with the case where the power generation source is used alone at maximum.
Moreover, the output can be extracted by switching between the two operations. Thereby, a relatively high output can be obtained with a lightweight manipulator having a relatively small power generation source.

In the present invention, the first output shaft or the second output shaft
At least one of the output shafts is characterized in that the screw mechanism converts the rotational force into a linear motion.
According to the present invention, at least one of the first output shaft and the second output shaft generates a driving force for a linear motion by the screw mechanism. Therefore, not only the rotational force but also the linear motion is used to operate the manipulator. Various movements can be realized by using a lightweight drive source.

Further, according to the present invention, the rotary shaft for taking out the rotary output, the power generation source for driving the rotary shaft, and the rotary shaft are housed, and the rotary shaft can be rotated around the axis of the rotary shaft by the reaction force from the rotary shaft. A pair of differential drive sources including a casing, a rotational force from the rotary shaft of one differential drive source, and a rotational force from one of the rotary shaft or the casing of the other differential drive source, When rotating in the same direction as a sum,
When rotating in the opposite direction, the difference is that the combined first output shaft, the rotational force from the casing of one differential drive source, and the rotational force of the other differential drive source from the other of the rotational shafts or casings. Two sets of biaxial output sources each having a second output shaft to be combined are provided, and the force and the force are shown as a difference when rotating in the same direction and as a sum when rotating in the opposite direction, and three degrees of freedom are provided by the output of three axes. The manipulator is characterized by performing movement and opening / closing driving of the gripper by output of one axis. According to the present invention, three-degree-of-freedom output is used for three-degree-of-freedom, and one-axis output is used for opening and closing the gripper. Four operations can be performed by the power from the four power sources. For each operation, it is possible to drive with outputs from two power sources at the maximum. Since the drive source is lightweight and has high output, it can be effectively used in many applications as a manipulator.

[0014]

FIG. 1 shows a basic structure of a floating differential mechanism as an embodiment of the present invention. FIG. 1 (a)
Shows the configuration of the floating differential mechanism 1, which is also called a float differential mechanism. In the floating differential mechanism 1, the rotational force about the common axis 1a can be extracted from the motor shaft 3 and the body 4 of the electric motor 2. The body 4 is supported by the base 7 via bearings 5 and 6 so as to be rotatable about the axis 1a of the motor shaft 3. Electric motor 2
A conductive wire 9 is connected via a slip ring 8 to enable rotation while supplying power to the device. If the body 4 is fixed, the rotational force can be taken out from the motor shaft 3 like the general electric motor 2. On the contrary, if the motor shaft 3 is fixed, the rotational force can be taken out from the body 4. That is, the motor shaft 3 and the body 4 form a differential mechanism. In this case, the conductive line 9 becomes one of the input ports and constitutes a completely new differential mechanism. This differential mechanism is remarkably simple in structure and can be used in many mechanical systems in the future.

FIG. 1B shows the structure of a semi-float differential mechanism 10 derived from the concept of the floating differential mechanism 1 of FIG. 1A. In the semi-float differential mechanism 10, the prime mover 11
Is fixed and the reducer shaft 13 and the body 14 of the reducer 12 are fixed.
The differential output can be taken out as a rotational force about the common axis 10a. Outer ring sides of bearings 15 and 16 that rotatably support the body 14 of the speed reducer 12 are fixed to a base 17. The inner ring side is attached to the outer periphery of the body 14. The rotation drive of the reduction gear 12 is performed by the drive shaft 1 of the prime mover 11.
8. If the reduction ratio by the speed reducer 12 is sufficiently large, only a small torque acts on the drive shaft 18 compared to the magnitude of the relative torque acting between the speed reducer shaft 13 and the body 14. The effect of torque acting on can be neglected.

In the semi-float differential mechanism 10, the prime mover 1
Since 1 can be fixed to the base 17, even if the electric motor 2 as shown in FIG. 1A is used, the slip ring 8 for connecting the conductive wire 19 is not necessary.
A drive source other than the electric motor 2 can be used as the prime mover 11, and a wide range of applications are possible.

In FIG. 2, two differential drive sources such as the floating differential mechanism 1 or the semi-float differential mechanism 10 shown in FIG. 1 are used, and the outputs of the two differential drive sources are positively interfered with each other. 1 shows a basic configuration of an interference drive mechanism 20 as a two-axis output source for taking out the light. Two differential drive sources 21 and 22 are housed in the interference drive mechanism 20. Bevel gears 25 and 26 are attached to the tips of the rotary shafts 23 and 24 of the differential drive sources 21 and 22, respectively. The bevel gears 25 and 26 are the rotary shaft 2
3 and 24 mesh with bevel gears 28 and 29 mounted on a first output shaft 27 that is perpendicular to them. Between the first output shaft 27 and the body 30 of the interference drive mechanism 20, a bearing 31,
32 are provided respectively. Bearings 35, 36; 37, 38 are provided between the bodies 33, 34 of the differential drive sources 21, 22 and the body 30 of the interference drive mechanism 20, respectively. Spur gears 39 and 40 are mounted on the outer circumferences of the bodies 33 and 34 of the differential drive sources 21 and 22, respectively. The spur gears 39 and 40 mesh with the spur gears 42 mounted on the second output shaft 41, respectively. The second output shaft 41 is rotatably supported by the bearings 43 and 44 with respect to the body 30 of the interference drive mechanism 20.

Rotating shafts 23, 24 of the differential drive sources 21, 22
, The differential drive sources 21, 2
The two bodies 33, 34 cannot rotate because the spur gears 39, 40 mesh with the spur gear 42 of the second output shaft 41, so that the two rotary shafts 23, 24 simultaneously rotate.
The first and second output shafts 27 rotate by rotating 8 and 29.
When the rotary shafts 23, 24 of the differential drive sources 21, 22 try to rotate in the same direction, the bevel gears 25, 26 provided at the tips of the rotary shafts 23, 24 are mounted on the first output shaft 27. , 29 will be rotated in the opposite direction, and the rotation shafts 23, 24 cannot rotate.
This reaction force causes the bodies 33, 34 of the differential drive sources 21, 22 to rotate in opposite directions, and the spur gear 42 mounted on the second output shaft 41 via the spur gears 39, 40 rotates. To do.

As described above, in the interference drive mechanism 20, the outputs of the two actuation drive sources 21 and 22 can be interfered with each other and taken out to the two output shafts of the first output shaft 27 and the second output shaft 41.

3 and 4 show a structure for obtaining the rotational force from the first output shaft 27 and the linear driving force from the second output shaft 41 by using the interference drive mechanism 20 shown in FIG. In FIG. 3, a worm gear 45 is mounted between the bevel gears 28 and 29 of the first output shaft 27 and meshes with a worm wheel 46 fixed to the base. In the second output shaft 41,
A ball screw 47 is attached to convert the rotational force into a linear driving force. By rotationally driving the worm gear 45, a turning motion θ1 about the vertical axis can be generated. By rotationally driving the second output shaft 41,
The ball screw 47 can be rotationally driven to change the distance x2 based on the end surface of the body 30 of the interference drive mechanism 20. In the configuration shown in FIG. 4, the bevel gear 2 of the first output shaft 27 is used.
A pulley 48 can be mounted between Nos. 8 and 29, and the rotational driving force can be transmitted to a separated position via a timing belt 49. A ball screw 50 is attached to the second output shaft 41, and the distance x3 with respect to the end surface of the body 30 of the interference drive mechanism 20 can be changed.

FIG. 5 shows the external structure of a manipulator 51 incorporating the structure shown in FIGS. 3 and 4 as an actuator. The manipulator 51 is provided on the base 52. A frame 53 is provided from the base 52 so as to allow a turning motion of θ1 around an axis line perpendicular to the surface of the base 52. The base end of the first arm 55 is swingably attached to the frame 53 via the first joint 54. The second arm 5 is attached to the tip of the first arm 55 via the second joint 56.
The base end of 7 is swingably supported. A gripper 58 for gripping a work is attached to the tip of the second arm 57. The gripper 58 is opened and closed by an opening / closing mechanism 59.

The interference driving mechanism shown in FIG. 3 mounted on the manipulator 51 has a vertical axis 52 a with respect to the base 52.
The turning motion θ1 around the second arm 2
Base 52 and second section 5 for changing the posture of arm 57
And a movement for linearly changing the distance x2 between the distance 6 and the distance 6 can be performed. The interference driving mechanism shown in FIG. 4 can open and close the opening / closing mechanism 59 of the gripper 58 from the first shaft 27 via the belt 49. The second output shaft 41 is a ball screw 5
When it is 0, it is converted into a linear motion, and the posture angle of the first arm 55 can be changed. Manipulator 5 shown in FIG.
1 is, for example, total link length 0.42 m, arm weight 10
have kg.

6, FIG. 7, FIG. 8, FIG. 9 and FIG.
A more detailed structure related to the manipulator 51 is shown.
FIG. 6 shows a front view of (a) and a side view of (b).
The structure as a link by the first link 54, the first arm 55, the second link 56, and the second arm 57 is shown. FIG. 6 (a)
The phantom line indicates that the first arm 55 is upright. 7 to 10 show the usage state of the two interference drive mechanisms, FIG. 7 shows the configuration seen from the front and side, and FIGS. 8 and 9 show the planar configuration of the manipulator 51.
Reference numeral 0 indicates the configuration of the gripper 58 as viewed from the side.

The first link 54 and the second link 56 are connected by a pair of link members 60 to form a parallelogram link. Between the first section 54 and the second section 56, as shown in FIG.
The first movable link 61 having the configuration shown in FIG.
A second movable link 62 including the configuration shown in FIG. 3 is mounted between the first joint 54 and a portion of the second arm 57 near the base end. The second movable link 62 has a turning motion θ1 shown in FIG.
And the linear movement of x2 that extends and contracts the length of the second movable link 62 can be performed. When the turning motion of θ1 is performed, the first joint 54, the first arm 55, the second joint 56, the second arm 57, and the gripper 58 can be caused to pivot about the vertical axis of the base 52. When the output of the second movable link 62 is switched to the linear motion, the second
By changing the distance x2 between the arm 57 and the first joint 54,
The postures of the arm 55 and the second arm 57 can be changed. At the output of the first movable link 61, the belt 4
The pulley 63 provided on the second joint 57 is rotationally driven via 9, and the rotational driving force can be transmitted by the timing belt 65 from the pulley 63 to the pulley 64 for driving the opening / closing mechanism 59 of the gripper 58. .. By changing the interval x2 in the linear movement direction of the first movable link 61, the inclination of the first arm 55 can be changed.

The manipulator 51 described above should be constructed so that it can be driven by the maximum output of the two differential drive sources 21 and 22 with respect to the four degrees of freedom by using the four differential drive sources 21 and 22. You can Generally, even when a manipulator or the like requires the maximum output for one degree of freedom, other outputs do not necessarily have to be maximum. For example, assuming that a manipulator is used to convey goods, only the mechanism with a specific degree of freedom requires the maximum driving force as the conveyance state of the goods changes.
The other parts need less driving force. In the manipulator 51 according to the present embodiment, the outputs from the differential drive sources 21 and 22 having a relatively small output can be effectively combined to extract the maximum carrying output, and the weight reduction and the high output are realized. can do. Such a manipulator has a limited weight, and can be suitably used as a manipulator to be mounted on space equipment that requires each part to be used as effectively as possible. Further, it can be suitably used as an actuator for general construction machines and the like.

[0026]

As described above, according to the present invention, it is possible to realize a completely new concept of the differential mechanism by taking out the rotational output from the rotary shaft and the casing.

Further, according to the present invention, the differential mechanism using the rotary shaft and the body of the electric motor as output shafts respectively has one of the input ports as a power supply wire, and has a remarkably simple structure. A differential mechanism can be realized.

Further, according to the present invention, the differential output can be taken out from the output shaft of the reduction mechanism and the casing accommodating the reduction mechanism, and the power source for driving the reduction mechanism is a casing such as a geared motor. It may be built in or fixed to the outside of the casing. When the power generation source is fixed to the outside of the casing, the restriction on the power generation source is eliminated, and various types of power generation sources can be effectively used.

According to the present invention, the outputs from the two power generating sources are combined, and the combined output of the maximum two power generating sources is extracted from the first output shaft and the second output shaft. Therefore, it is easy to switch between the first output shaft and the second output shaft depending on the relative rotation direction. Compared to the case where the power generation sources are individually attached to the first output shaft and the second output shaft, twice the rotational force can be taken out, so that a large power can be taken out with a small power generation source.

Further, according to the present invention, since the outputs of the rotary shafts and the outputs of the casings are combined, the rotation directions for switching between the first output shaft and the second output shaft are the same for the two power generation sources. Can be selected and control is simplified.

Further, according to the present invention, since the first output shaft and the second output shaft are arranged vertically, outputs of different directions can be switched and taken out.

Further, according to the present invention, since it is possible to obtain double the output by combining the two power generation sources, it is possible to reduce the weight of the manipulator and to achieve high output.

Further, according to the present invention, not only the rotational force but also the linear motion can be driven, so that various operations as a manipulator can be dealt with.

Further, according to the present invention, the movement with three degrees of freedom and the gripper opening / closing operation with one degree of freedom are performed by two pairs of biaxial output sources by the power from the pair of power generation sources. Can be realized. With respect to the degree of freedom of each movement, since the rotational driving force from the two power generation sources can be supplied to the maximum, it is possible to reduce the weight of the manipulator and simultaneously increase the output.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a basic configuration of a floating differential mechanism 1 and a semi-float differential mechanism 10 according to an embodiment of the present invention.

2 is a schematic diagram showing a configuration of an interference drive mechanism 20 that uses the floating differential mechanism 1 or the semi-float differential mechanism 10 shown in FIG. 1 as differential drive sources 21 and 22. FIG.

3 is a schematic view showing an example of an embodiment of the interference driving mechanism shown in FIG.

FIG. 4 is a schematic view showing another example of the embodiment of the interference driving mechanism 20 shown in FIG.

5 is a perspective view showing an external configuration of a manipulator to which the embodiment of FIGS. 3 and 4 is applied.

FIG. 6 is a simplified front view and side view of the manipulator 51 shown in FIG.

FIG. 7 is a partial front view showing the configuration for changing the posture of the manipulator 51 in FIG.

8 is a cross-sectional view taken along the section line VIII-VIII in FIG.

9 is a cross-sectional view taken along the section line IX-IX in FIG.

10 is a cross-sectional view taken along the section line XX of FIG.

[Explanation of symbols]

1 Floating differential mechanism 2 Electric motor 3 Motor shaft 4,14,30,33,34 Body 5,6,15,16,31,32,35,36,37,
38, 43, 44 bearing 7, 17 base 8 slip ring 10 semi-float differential mechanism 11 prime mover 12 reducer 13 reducer shaft 18 drive shaft 20 interference drive mechanism 21, 22 differential drive source 23, 24 rotary shaft 25, 26, 28,29 bevel gear 27 first output shaft 39,40,42 spur gear 41 second output shaft 45 worm gear 46 worm wheel 47,50 ball screw 48 pulley 49 timing belt 51 manipulator 52 base 54 first section 55 first arm 56 second section 57 second arm 58 gripper 59 opening / closing mechanism

Claims (9)

[Claims] 1. A rotary shaft for extracting a rotary output, a power source for driving the rotary shaft, and a casing which houses the rotary shaft and is rotatable around the axis of the rotary shaft by a reaction force from the rotary shaft. A floating differential mechanism including a differential drive source including the differential drive source. 2. The drive source is an electric motor, the rotating shaft is an output shaft of the electric motor, the casing is a body of the electric motor, and a slip ring for supplying electric power to the electric motor is provided. The floating differential mechanism according to claim 1, wherein 3. The floating differential mechanism according to claim 1, wherein the rotating shaft is rotationally driven by the power generation source via a speed reducing mechanism provided in the casing. 4. A pair of the differential drive sources, wherein the rotational force from the rotary shaft of one differential drive source and the rotational force from one of the rotary shafts or the casing of the other differential drive source. Is the sum when rotating in the same direction, and the difference when rotating in the opposite direction. The first output shaft to be combined, the rotational force from the casing of one differential drive source, and the other differential drive source. A second output shaft that combines the rotational force from the other of the rotating shaft and the casing as a difference when rotating in the same direction and as a sum when rotating in the opposite direction, respectively. The floating differential mechanism according to any one of 1 to 3. 5. The first output shaft combines the rotational forces from a pair of rotary shafts, and the second output shaft combines the rotational forces from a pair of casings. The floating differential mechanism described. 6. The pair of rotating shafts extend in parallel and are coupled to a first output shaft perpendicular to the rotating shafts via bevel gears respectively attached to the tips thereof, and the pair of casings have outer peripheral portions. The floating differential mechanism according to claim 5, wherein the floating differential mechanism is coupled to a second output shaft parallel to each rotation shaft via a spur gear mounted. 7. A rotary shaft for extracting a rotary output, a power source for driving the rotary shaft, and a casing that houses the rotary shaft and is rotatable around the axis of the rotary shaft by a reaction force from the rotary shaft. Including a pair of differential drive sources including, the rotational force from the rotary shaft of one differential drive source and the rotational force from the rotary shaft of the other differential drive source or one of the casing are rotated in the same direction. As a sum, and as a difference when rotating in the opposite direction, the first motion mechanism driven by the first output shaft that is combined, the rotational force from the casing of one differential drive source, and the other differential drive. The rotary shaft of the source or the rotary force from the other of the casings is driven by a second output shaft that synthesizes them as a difference when rotating in the same direction and as a sum when rotating in the opposite direction, and a first motion mechanism. Manipulator, characterized in that it includes a different second motion mechanism. 8. The manipulator according to claim 7, wherein at least one of the first output shaft and the second output shaft converts a rotational force into a linear motion by a screw mechanism. 9. A rotary shaft for extracting a rotary output, a power source for driving the rotary shaft, and a casing which houses the rotary shaft and is rotatable around the axis of the rotary shaft by a reaction force from the rotary shaft. Including a pair of differential drive sources including, the rotational force from the rotary shaft of one differential drive source and the rotational force from the rotary shaft of the other differential drive source or one of the casing are rotated in the same direction. Of the first output shaft, the rotational force from the casing of one differential drive source, and the rotational shaft or casing of the other differential drive source, The rotational force from the other of the two is attached as a difference when rotating in the same direction, and as a sum when rotating in the opposite direction. 3 degrees of freedom depending on output Performs dynamic, manipulator and performing opening and closing of the gripper by the output of the first axis.