Manipulator mainly by the implementing agencies, the drive mechanism and control system has three major components. Hand holding a workpiece with catch (or tools) member, depending on the shape, size, weight, material and operational requirements of a variety of structural members and forms, such as gripping type, adsorption type holding type and the like. Motion mechanism, so that the hand complete various rotating (swinging), mobile or composite movement to achieve a predetermined operation, to change the position and posture member.