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1、ThisisaapplicationofApplicationSer.No.10/799,595,filedonMar.15,2004nowU.S.Pat.No.7,081,700.[FIELDOFTHEINVENTIONThepresentinventionrelatestoamanipulatorsuchasaminutecomponentassemblyapparatuswhichassemblesaminuteobjectsuchasamicromachinecomponentorunitby
2、usingamagnifyingobservationdevicesuchasanopticalmicroscope,electronmicroscope,orscanningtunnelingmicroscope,oracompactmanipulatorapparatuswhichperformsdiagnosis,medicaltreatment,research,biologicalproduction,orthelikebyphysicallymanipulating,forexample,
3、minutetissues,cells,orgenesofalivingbodyandaminuteobjectmanipulatingapparatususingthemanipulator^BACKGROUNDOFTHEINVENTIONTherehavebeenknownatechniqueofcontrollingthepostureofamanipulatingmember(end-effector)byrotatingageneralsizearmusingageneralsizebear
4、ingandatechniqueofperforminganecessaryprocessonaminuteworkinaworkingdevicebyrotatinganarmortoolalonganarcuatedguide(see,forexample,JapanesePatentLaid-OpenNo.7-256575).Inaconventionalapparatuslikethosedescribedabove,ifthedistalendofanend-effectorisnotloc
5、atedontherotationaxisofabearingorarcuatedguide,thedistalendoftheend-effectormovesoutofthevisualfieldordepthoffocusofamicroscopeduetoposturecontroloperation.Thismakesitnecessarytopositionthemicroscopeandthedistalendoftheend-effectoragain.Asdescribedabove
6、,inamanipulatorwhichmanipulatesaminuteobject,whenthepostureoftheend-effectoratthedistalendiscontrolled,themanipulationtargetobjectoftenmovesoutofthevisualfieldofthemicroscope.Inaconventionalmanipulatorhavingthreedegreesofrotationalfreedom,inparticular,s
7、incetherotationaxescorrespondingtotherespectivedegreesoffreedomdonotcoincidewitheachotheranddonotcrossatonepoint,thedistalendoftheend-effectortendstomoveoutofthevisualfieldordepthoffocusofthemicroscopeduetoposturecontroloperation.Insuchacase,themicrosco
8、peandthedistalendoftheend-effectormustbepositionedagain.Thisoperationrequiresalongperiodoftime.SUMMARYOFTHEINVENTIONItisanobjectofthepresentinventiontoprovideamanipulatorsuchasacompactmanipulatorapparatuswhichsolvestheaboveproble
