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1、ThisisaapplicationofApplicationSer.No.10/799,595,filedonMar.15,2004nowU.S.Pat.No.7,081,700.[FIELDOFTHEINVENTIONThepresentinventionrelatestoamanipulatorsuchasaminutecomponentassemblyapparatuswhichassemblesaminuteobjectsuchasamicromachinecomponentorunitbyusingamagnifyingobservat
2、iondevicesuchasanopticalmicroscope,electronmicroscope,orscanningtunnelingmicroscope,oracompactmanipulatorapparatuswhichperformsdiagnosis,medicaltreatment,research,biologicalproduction,orthelikebyphysicallymanipulating,forexample,minutetissues,cells,orgenesofalivingbodyandaminu
3、teobjectmanipulatingapparatususingthemanipulator.BACKGROUNDOFTHEINVENTIONTherehavebeenknownatechniqueofcontrollingthepostureofamanipulatingmember(end-effector)byrotatingageneralsizearmusingageneralsizebearingandatechniqueofperforminganecessaryprocessonaminuteworkinaworkingdevi
4、cebyrotatinganarmortoolalonganarcuatedguide(see,forexample,JapanesePatentLaid-OpenNo.7-256575).Inaconventionalapparatuslikethosedescribedabove,ifthedistalendofanend-effectorisnotlocatedontherotationaxisofabearingorarcuatedguide,thedistalendoftheend-effectormovesoutofthevisualf
5、ieldordepthoffocusofamicroscopeduetoposturecontroloperation.Thismakesitnecessarytopositionthemicroscopeandthedistalendoftheend-effectoragain.Asdescribedabove,inamanipulatorwhichmanipulatesaminuteobject,whenthepostureoftheend-effectoratthedistalendiscontrolled,themanipulationta
6、rgetobjectoftenmovesoutofthevisualfieldofthemicroscope.Inaconventionalmanipulatorhavingthreedegreesofrotationalfreedom,inparticular,sincetherotationaxescorrespondingtotherespectivedegreesoffreedomdonotcoincidewitheachotheranddonotcrossatonepoint,thedistalendoftheend-effectorte
7、ndstomoveoutofthevisualfieldordepthoffocusofthemicroscopeduetoposturecontroloperation.Insuchacase,themicroscopeandthedistalendoftheend-effectormustbepositionedagain.Thisoperationrequiresalongperiodoftime.SUMMARYOFTHEINVENTIONItisanobjectofthepresentinventiontoprovideamanipulat
8、orsuchasacompactmanipulatorapparatuswhichsolvestheaboveproble
