| 摘要 |
PROBLEM TO BE SOLVED: To provide a structure capable of keeping the direction of an output member 103 constant irrespective of the moving position of the output member 103.SOLUTION: A third arm 112 is composed of a plurality of third links 112a arranged at a spacing in a direction parallel to a third axis 106 intersecting an output shaft 105 and in parallel with each other. One end of the third links 112a is connected with two degrees of freedom to an output member 103 by joint portions 112b. The other end of the third link 112a is connected in a non-tiltable manner to the drive portion of a third motor 111 acting as a third actuator and to a third link shaft 111b disposed in parallel with the third shaft 106. As a result, the third arm 112 constitutes a parallel link mechanism. |
