This paper presents the development of a small size multi-degree-of-freedom manipulator for medical applications using high precision 3D cam mechanism and crown gear reducer. The 3D cam functions similar to a bevel gear in that it is a transmission mechanism for nonparallel input-output axes. However, the 3D cam mechanism has theoretically zero backlash can be miniaturized much easier than a bevel gear. Using the 3D cam mechanism, the multi-degree-of-freedom manipulator was implemented as a serial manipulator. Results of the evaluation of the prototype small size multi-degree-of-freedom manipulator are presented.
