文档介绍：Forpersonaluseonlyinstudyandresearch;mercialuse袁莀机械手英文文献机器翻译莆设计外文文献设计外文文献<<,595,,,081,,electronmicroscope,orscanningtunnelingmicroscope,pactmanipulatorapparatuswhichperformsdiagnosis,medicaltreatment,research,biologicalproduction,orthelikebyphysicallymanipulating,forexample,minutetissues,(end-effector)byrotatingageneralsizearmusingageneralsizebearingandatechniqueofperforminganecessaryprocessonaminuteworkinaworkingdevicebyrotatinganarmortoolalonganarcuatedguide(see,forexample,JapanesePatentLaid--256575).Inaconventionalapparatuslikethosedescribedabove,ifthedistalendofanend-effectorisnotlocatedontherotationaxisofabearingorarcuatedguide,thedistalendoftheend--,inamanipulatorwhichmanipulatesaminuteobject,whenthepostureoftheend-effectoratthedistalendiscontrolled,,inparticular,sincetherotationaxescorrespondingtotherespectivedegreesoffreedomdonotcoincidewitheachotheranddonotcrossatonepoint,thedistalendoftheend-,themicroscopeandthedistalendoftheend-,,accordingtothepresentinven