There is provided a manipulator simplified in maintenance and operation thereof, the manipulator having the freedom of two-degree-of-freedom of rotation and gripping, and being capable of ensuring force feedback or force sensation with excellent operationability.
A link mechanism 3 is provided between an operating part 1 and a working part 2. The link mechanism 3 comprises four driving rods 3a to 3d and first and second coupling members of the same structure, 41, 42 provided at opposite ends of the driving rods. First and second working members 2a, 2b move correspondingly to operations of first and second operating members 1a, 1b with the aid of the link mechanism 3. For example, provided that the first and second operating members 1a, 1b might be opened and closed, the first and second working members 2a, 2b might be opened and closed (gripping). And also, provided that the first and second operating members 1a, 1b are changed in their yaw angles, the working members 2a, 2b are also correspondingly changed in their yaw angle. Similarly, once the first and second operating members 1a, 1b are changed in their pitch angles, the working members 2a, 2b might be also correspondingly changed in their pitch angles.