| 摘要 |
Provided is a positioning device (10) having a fastening part (1) of closed loop shape, provided with a plurality of end effector drive mechanisms (100) having first and second movable parts (11, 12) for moving the top of the fastening part, a first rotation joint (13) mounted on the first movable part and rotating about a unidirectional rotation axis, a second rotation joint (14) mounted on the second movable part and rotating about a unidirectional rotation axis, a first arm (15) supported at one end by the first rotation joint, a second arm (16) supported at one end by the second rotation joint, a third rotation joint (17) linking the other end of the first arm and the other end of the second arm, and rotating about a unidirectional rotation axis, and an end effector (18) attached to the third rotation joint, the other end of the first arm, or the other end of the second arm. |
