| 摘要 |
PROBLEM TO BE SOLVED: To provide a work device using a parallel link mechanism which allows work with respect to a worked body of a three-dimensional shape, with a structure in which a one-freedom-degree linear motion mechanism is added to a two-freedom-degree link action device.SOLUTION: A work device 1 comprises a parallel link mechanism 9, a posture control actuator 10 and a linear motion mechanism 8. The parallel link mechanism 9 is formed by connecting a tip end side link hub 13 to a base end side link hub 12 via three or more sets of link mechanisms 14, so that a posture can be changed, and a worked body 2 is provided on the tip end side link hub 13. The linear motion mechanism 8 moves a work body 3 along a center axis QA of the base end side link hub 12. The worked body 2 is positioned in an inner space S1 between the respective link hubs 12 and 13 on the base end side and on the tip end side. A distance T from a spherical link center PB of the tip end side link hub 13 to a bottom face 2a of the worked body 2, is 1/2 of a distance L between the respective spherical link centers PA and PB, or longer.SELECTED DRAWING: Figure 1 |
