To provide a parallel-link working device preventing links etc. of a power transmitting part, for transmitting the power to a movable member, from protruding out of the area of a base.
Six flat rotary actuators 6 driven to control position and posture of the movable member 5 are provided on the base 4, rotary output shafts of which 6 are disposed radially pointing toward the center of the base. The links fixedly mounted on the rotary output shafts of the actuators 6 are connected by joints to one-side ends of respective rods 10, and the other ends of the rods 10 are connected to the movable member 5 by joints. An end effector 20 mounted on the movable member 5 is rotated by another actuator 7 for posture control mounted on the base 4 via a rotational-force transmission mechanism 15 composed of joints, spline couplings, etc. The links rotate in planes parallel to the sides of the base 4 without protruding beyond the area covered by the base 4, which ensures the safety.
OTAKA SHUNICHI
KARIYA ISAO
| JP2000097306A | 2000-04-04 | |||
| JPS63501860A | 1988-07-28 | |||
| JP2007512968A | 2007-05-24 | |||
| JP2005144627A | 2005-06-09 | |||
| JP2001520941A | 2001-11-06 | |||
| JP2001282359A | 2001-10-12 | |||
| JP2002126965A | 2002-05-08 | |||
| JPH11287303A | 1999-10-19 |
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro