Abstract: A jointed manipulator is formed of a body, first and second arms, and a holder for an object to be manipulated, wherein the first arm is pivoted to the body, the second arm is pivoted to the first arm, and the holder is pivoted to the second arm, and coupling and constraining mechanisms are provided which limit the relative movements of the parts so that the entire system has only one degree of freedom.

Abstract: A manipulator includes a first arm assembly having a base end portion and a free end portion and attaching means on which the base end portion is pivotally mounted by first pivotal means for pivotal movement about a first pivotal axis. First power means are operatively connected to the first arm assembly to effect rotation of the latter about the first pivotal axis. The manipulator also includes a second arm assembly having a base end portion and a free end portion and second pivotal means pivotally mounting the base end portion of the second arm assembly to the free end portion of the first arm assembly for pivotal movement about a second pivotal axis. Second power means are provided and coupling means couple the second power means to the second arm assembly to effect rotation of the latter about the second pivotal axis. Holding means on the free end portion of the second arm assembly are provided for holding an article which is to be moved by the manipulator.