PURPOSE: To move a movable member by its reciprocation in a fixed position in a present straight line direction and to move to a specified position with high accuracy by fitting the movable member freely turnably around a 3rd turning axial line parallel to a 1st turning axial line to a pair of tip links located at the tip of a diamond kinematic chain.
CONSTITUTION: The diamond kinematic chain 94 linked with base end links 74a, 76a to blocks 50, 52 is elastically moved in a straight line direction by approaching and separating a pair of this driving blocks 50, 52. The movable member (fitting plate) 92a fitted to the tip links 82a, 86a of this diamond kinematic chain 94 is thus moved by its reciprocation in this straight line direction. Moreover, the movable member 92a is relatively turned reversely to this tip link 82a, 86a by the same turning angle as the turning of the tip links 82a, 86a by the turning mechanism 96 provided on the diamond kinematic chain 94. As a result, the movable member 92a can be moved to the specified position with high accuracy in a fixed position despite the expansion of the diamond kinematic chain 94.
NAKAYAMA GENICHI
NAKAMURA HISANORI
TOYOTA MOTOR CORP