| 摘要 |
PROBLEM TO BE SOLVED: To provide a link mechanism which can set rigidity of an elastic element of a joint mechanism within an appropriate range so as to equalize rigidity with respect to displacement of a movable part with either one target rigidity or any one of a plurality of target rigidity regulated in advance.SOLUTION: In a link mechanism 1, in each joint mechanism Jj, a rigidity kj_i of an elastic element 5 of the joint mechanism Ji is changeable within a range between a minimum value kj1_i of the rigidity kj_i of the elastic element 5 of the joint mechanism Ji and a maximum value kj2_i thereof that is necessary to provide all of a plurality of target rigidities ke_cmd_k of a distal end part 3. |
