Mechanical device

Abstract

Provided is a mechanical device having two members that are rotatably connected to each other via a joint. An end effector (mechanical device) comprises: a drive source (first member); a hand unit (second member) connected to the drive source via a joint capable of pivoting about a first rotational axis; and a flexible shaft (at least one cable) that is flexible and supported by the drive source and the hand unit. When a relative rotational position between the drive source and the hand unit is a middle position within a range of rotation about the first rotational axis, the flexible shaft presents an S-shape between the drive source and the hand unit as viewed along the first rotational axis.

Dependencies are inferred from the claim text.