LINK ACTUATING DEVICE

WIPO Patent Application WO/2019/065650

A1

A distal end-side link hub (3) is coupled to a proximal end-side link hub (2) by way of three or more sets of link mechanisms (4) in such a way that the attitude thereof can be changed. Each link mechanism (4) includes a proximal end-side end portion link member (5), a proximal end-side central link member (6), a distal end-side central link member (7) and a distal end-side end portion link member (8). Actuators (51) for arbitrarily changing the attitude and the distance of the distal end-side link hub (3) relative to the proximal end-side link hub (2) are provided on at least three sets of the link mechanisms (4) from among the three or more sets of link mechanisms (4). A control device (58) obtains an angle of rotation of the proximal end-side end portion link member (5) corresponding to a target attitude of the distal end-side link hub (3) and a target spherical link center-to-center distance, and controls the actuators (51) to achieve said angle of rotation.

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ISOBE HIROSHI (JP)
MARUI NAOKI (JP)
SAKATA SEIGO (JP)
NOSE KENZOU (JP)

PCT/JP2018/035505

April 04, 2019

September 25, 2018

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NTN TOYO BEARING CO LTD (JP)

B25J11/00; F16H21/46

JP2015025530A	2015-02-05
JP2001520941A	2001-11-06
US20020166404A1	2002-11-14
JP2016050640A	2016-04-11
JP2018167365A	2018-11-01

SUGIMOTO, Shuji et al. (JP)

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