LINK OPERATION DEVICE

Japanese Patent JP2016050640

A

PROBLEM TO BE SOLVED: To improve responsiveness when employing a link operation device to precise medical equipment or the like.SOLUTION: A link operation device is constituted of: a base end side end part link 3 whose one end is rotatably connected to a base end side link hub 1; a tip side end part link whose one end is rotatably connected to a tip side link hub; and a center link 5 in which the other end of the base end side end part link 3 and the other end of the tip side end part link are rotatably connected to each other. The link operation device has three-link chain mechanisms Lto Lwhich are composed of four revolute pairs, and the tip side link hub is connected to the base end side link hub 1 via the link mechanisms Lto Lso as to be changeable in postures. A difference (δ-δ) of alienation angles between the base end side end part link 3 of the link mechanism Land the base end side end part link 3 of the link mechanism Lis set as 180°, rotary encoders 12 which detect a rotational angle of the base end side end part link 3 is arranged at two sets of the link mechanisms Lto L, and a control part 28 is arranged which regulates a posture of the tip side link hub on the basis of the rotational angle which is obtained by the rotary encoders 12.SELECTED DRAWING: Figure 2

WO/2018/212197	OPERATION DEVICE
WO/2023/032916	JOINT MECHANISM, PARALLEL LINK MECHANISM, AND LINK ACTUATION DEVICE
WO/2018/008254	EXTENSION/RETRACTION MECHANISM AND FOUR-LEGGED ROBOT

KONAGAI NAOYA
ISOBE HIROSHI
SAKATA SEIGO

JP2014177029A

April 11, 2016

September 01, 2014

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NTN TOYO BEARING CO LTD

F16H21/46; B25J11/00

JP2005144627A	2005-06-09
JP2001121460A	2001-05-08

Kunihiko Shiromura
Tsuyoshi Kumano

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