| 摘要 |
PROBLEM TO BE SOLVED: To provide a link mechanism capable of arbitrarily determining an attitude, ensuring that its occupied volume is small and does not change, and allowing a large load.SOLUTION: A link mechanism 1 comprises: a proximal member 2; a tip end member 3; a plurality of links 11A, 11B, 11C, 12A, 12B, and 12C; and a plurality of rotary shafts 10A1, 10B1, 10C1, 11A1, 11C1, 12A1, 12B1, and 12C1, and is configured such that two out of the proximal member, the tip end member, and the links are connected to each other to be rotatable via the rotary shafts, respectively, the plurality of rotary shafts are disposed to pass through one point 0 on a space, and when a center of the proximal member, a center of the tip end member, and a pair of links 11A and 12A, 11B and 12B or 11C and 12C to which the proximal member and the tip end member are connected are disposed in a planar fashion, angles of the center of the proximal member and the center of the tip end member about the one point 0 on a side via the pair of links exceed 180 degrees and the proximal member and the tip end member move to form a spherical locus about the one point 0.SELECTED DRAWING: Figure 1 |
