| 摘要 |
PROBLEM TO BE SOLVED: To provide a parallel link type working device for preventing a link of a power transmission part which transmits power to a movable part, from running out of the region of a base. SOLUTION: Three flat rotary actuators 6 are provided on the base 4. The actuators 6 have rotation output shafts arranged parallel to the base 4, directed to the center of the base 4, and arrayed and fixed radially from the center of the base 4. The rotation output shaft of each rotary actuator 6 and the movable part 5 are connected to each other via the power transmission part which is formed with a parallel link mechanism 21. The three rotary actuators 6 are driven to control the position of the movable part 5. An end effector attitude control actuator 7 provided on the base 4 is used for rotating an end effector 20 provided on the movable part 5, via a rotating power transmitting means 15. The parallel link mechanism 21 is moved in the inside region of the base 4 to secure the safety while preventing the link from running out of the region of the base. COPYRIGHT: (C)2009,JPO&INPIT
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