PROBLEM TO BE SOLVED: To provide a manipulator and a manipulator system by which a dynamic excess portion is rapidly removed and in which a distal end part actuates rapidly in response to operation of an operation part.SOLUTION: A slack correction mechanism 1 comprises: a distal end pulley 2 rotatable about a predetermined shaft a distal end wire 3 wound on the distal end pulley 2 a first supporting part 4 for supporting one side of the distal end wire 3, the first supporting part 4 having a first base 41, a first friction part 42 which protrudes from the first base 41, and around which one side of the distal end wire 3 wound on the distal end pulley 2 is wrapped in a loop, and a first urging part 43 for urging the distal end wire 3 in a pulling direction at a location further toward one end of the distal end wire 3 than the first friction part 42 and a second supporting part 5 for supporting the other side of the distal end wire 3, the second supporting part 5 having a second base 51, a second friction part 52 which protrudes from the second base 51, and around which the other side of the distal end wire 3 wound on the distal end pulley 2 is wrapped in a loop, and a second urging part 53 for urging the distal end wire 3 in the pulling direction at a location further toward the other end of the distal end wire 3 than the second friction part 52.COPYRIGHT: (C)2015,JPO&INPIT【課題】 動的な余剰部分を迅速に除去し、操作部の操作に対して、先端部が迅速に作動するマニピュレータ及びマニピュレータシステムを提供する。【解決手段】 弛み補正機構1は、所定の軸に対して回転可能な先端プーリ2と、先端プーリ2に巻き掛けられる先端ワイヤ3と、第1基体41、第1基体41から突出して先端プーリ2に巻き掛けられた先端ワイヤ3の一方側がループ状に掛け回される第1摩擦部42、及び第1摩擦部42よりも一端側で先端ワイヤ3を引張方向に付勢する第1付勢部43を有し、先端ワイヤ3の一方側を支持する第1支持部4と、第2基体51、第2基体51から突出して先端プーリ2に巻き掛けられた先端ワイヤ3の他方側がループ状に掛け回される第2摩擦部52、及び第2摩擦部52よりも他端側で先端ワイヤ3を引張方向に付勢する第2付勢部53を有し、先端ワイヤ3の他方側を支持する第2支持部5と、を備えることを特徴とする。【選択図】図1
