Abstract
A robot arm has been widely used for various kinds of fields without remaining in industrial use. Versatility and flexibility is expected for the robot-arm to realize skillful operation in many fields. The purpose of this study was to propose the new mechanism of a small-sized 3-DOF effector with versatility and flexibility for multi-DOF robot-arm and to develop the robot-arm system that can realize skillful operation. The trial product was produced and the mathematical model was derived.
