INDUSTRIAL MANIPULATOR

PURPOSE: To prevent the concentration of drive sources at a tip of an upper arm by providing a motor in a wrist section which turns and drives the wrist section and a motor in a hand section which turns and drives the hand section on a basic end side of the upper arm. CONSTITUTION: Since the rotation and drive of a wrist section 27 and the rotation and drive of a hand section 28 are performed through a driving force transmission means provided in the inside of an upper arm 25 due to the drive of a 4-axis motor 36 and a 5-axis motor 37 provided through a motor housing 34 on a basic end side of an upper arm 25 in a slave arm in a master slave type manipulator, drive sources do not exist in a section of the wrist section 27 at a tip of the upper arm 25. Consequently, load balance of the upper arm 25 is improved and load of a 3-axis motor can be reduced. Moreover, since a member which obstructs visual field of the wrist section 27 does not exist, it becomes easy to recognize the work condition of the hand section 28 when a worker manipulates a master arm.