PROBLEM TO BE SOLVED: To provide a remote-operated actuator capable of changing a posture of a tool mounted on its tip by remote operation, and keeping the posture of the tool suitably.SOLUTION: The actuator comprises an elongated spindle guide 3 and a tip member 2 mounted on the tip of the spindle guide capable of changing the posture freely. The tip member 2 rotatably supports a spindle 13 holding the tool 1. The spindle guide 3 has a rotary shaft 22 transmitting a rotation of a driving source 41 for rotating the tool to the spindle 13. A driving source 42 for posture control causes a posture operation member 31, inserted in a guide hole 30a, to move forward and backward. The initial posture holding control part 53a of the posture control means 53 controls the driving source 42 for posture control so as to give an initial posture holding strength, which is for holding the tip member 2 in the initial posture, to a posture operation member 31. A posture changing control part 53b controls the driving source 42 for posture control to change the posture of the tip member 2 with a larger strength than the initial posture holding strength.COPYRIGHT: (C)2010,JPO&INPIT【課題】 先端に設けた工具の姿勢を遠隔操作で変更することができ、工具の姿勢を適正に保つ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とを備える。先端部材2は、工具1を保持するスピンドル13を回転自在に支持する。スピンドルガイド部3は、工具回転用駆動源41の回転をスピンドル13に伝達する回転軸22を有する。ガイド孔30a内に挿通された姿勢操作部材31を、姿勢制御用駆動源42で進退させる。姿勢制御手段53の初期姿勢保持制御部53aは、先端部材2を初期姿勢に保持する初期姿勢保持力を姿勢操作部材31に与えるように姿勢制御用駆動源42を制御する。姿勢変更制御部53bは、初期姿勢保持力よりも大きな力で先端部材2の姿勢を変更させるように姿勢制御用駆動源42を制御する。【選択図】 図1
