| 摘要 |
PROBLEM TO BE SOLVED: To provide a link operation device capable of accurately detecting external force acting on a device tip from various directions with a simple and inexpensive configuration, and improving safety of the entire device.SOLUTION: This invention is applied to a link operation device 1 consisting of a parallel link mechanism 9 in which a link hub 12 on a base end side and a link hub on a distal end side are connected through a plurality of link mechanisms 14. Torque detection means 8 are provided in posture control actuators 10 for driving the link mechanisms 14 respectively. Load estimation means 5 for estimating a load acting on a link hub 13 on the distal end side based on detection signals of the torque detection means 8 is provided.SELECTED DRAWING: Figure 2 |
