MANIPULATOR

PURPOSE:To improve the portability of a manipulator by providing a 1st arm rotatably around Z axis by extending in the Z axial direction and providing a 2nd arm slidable in the direction orthogonal with Z axis on the guide member freely slidable along this 1st arm. CONSTITUTION:A theta coordinate is determined by rotating a 1st arm 48 around Z axis by a 1st driving device 62, and Z coordinate is determined by sliding a guide member 52 and the 2nd arm 50 provided thereon by a 2nd driving device(58, 60). Moreover, R coordinate is determined by sliding the 2nd arm 50 in the direction orthogonal with the Z axis by a 3rd driving device. In this case, the 1st arm 48 is consisting of the cylindrical member 49 of non-magnetic body and the 2nd driving device is consisting of a movable magnet 58 stored inside this cylindrical member 49 and a stationary magnet 60 fixed to the guide member 52 so as to oppose to the movable magnet 58. By forming a manipulator like this the portability is improved and dusting property is reduced.