| 摘要 |
PROBLEM TO BE SOLVED: To provide a link actuation device capable of performing high-speed and high-accuracy positioning actuation in a wide actuation range while being compact in size, and capable of initially setting an origin position easily in any installation conditions.SOLUTION: A link actuation device 51 is constituted by connecting a link hub 3 at a tip side to a link hub 2 at a base end side through three sets or more of link mechanisms 4 in such a manner that its attitude can be changed. The respective link mechanisms 4 include end link members 5 and 6 for the base end side and the tip side, respectively, and a central link member 7. An attitude control actuator 54 for optionally changing the attitude of the link hub 3 at the tip side with respect to the link hub 2 at the base end side is provided on the link mechanism 4. An origin positioning member 106 is installed in the link hub 2 at the base end side in an engageable/disengageable manner to the link hub 3 at the tip side, and sets the link hub 3 at the tip side to be in the predetermined attitude with respect to the link hub 2 at the base end side in the condition of being engaged with the link hub 3 at the tip side. |
