PROBLEM TO BE SOLVED: To provide a remote-controlled actuator that changes the position of a tool attached to the end of an elongated pipe with high dimensional accuracy via its remote controlled operation.SOLUTION: The actuator includes an elongated spindle guide 3, an end part 2 attached to the tip of the same while the attached end part 2 easily changes its position, and a tool 1 rotatably provided at the end part 2. The spindle guide 3 includes a rotation shaft 22 to transmit rotation to the spindle 13, and a guide hole 30a opened throughout both the ends of the same. A positional change drive source 42 moves forward and backward a positional operation member 31 inserted, with its position being variable, through the guide hole 30a to change the position of the end part 2. When a positional control means 53 to control the position of the positional change drive source 42 takes control of the positional operation member 31 over its movement from the standard operation start position to the target position, the process includes a step where the position operation member is temporarily moved away from the target position.COPYRIGHT: (C)2012,JPO&INPIT【課題】 細長いパイプ部の先端に設けられた工具の姿勢を、遠隔操作で精度良く変更することができる遠隔操作型アクチュエータを提供する。【解決手段】 細長形状のスピンドルガイド部3と、その先端に姿勢変更自在に取付けられた先端部材2と、先端部材2に回転自在に設けた工具1とを備える。スピンドルガイド部3は、スピンドル13に回転を伝達する回転軸22と、両端に貫通したガイド孔30aとを内部に有する。ガイド孔30a内に進退自在に挿通した姿勢操作部材31を姿勢変更用駆動源42で進退動作させて、先端部材2を姿勢変更させる。姿勢変更用駆動源42を制御する姿勢制御手段53は、姿勢操作部材31を動作開始位置である基準位置から目標位置へ移動させる制御を行うとき、一時的に姿勢操作部材を目標位置から遠ざかる側に移動させる過程を含む。【選択図】 図1
