| 主权项 |
1. A parallel link robot, comprising:
a base part having a plurality of actuators; a moving part movable with respect to the base part; a plurality of link parts with first ends linked with the plurality of actuators rotatably around rotary shafts with respect to the base part and with other ends linked with the moving part; and fixtures attached to the base part to measure rotational positions of the link parts, wherein the base part has reference flat surfaces, wherein the link parts have moving flat surfaces extended in parallel with respect to the rotary shafts, wherein positional relationships between the moving flat surfaces and the reference flat surfaces become predetermined positional relationships when the link parts rotate to reference positions for calibration of position, wherein the fixtures have measuring devices arranged at measurement positions with known positional relationships with respect to the reference flat surfaces, the measuring devices facing the moving flat surfaces when the link parts rotate to the reference positions and measuring distances between the reference flat surfaces and the moving flat surfaces, and wherein the reference flat surfaces and the moving flat surfaces are formed so as to be positioned on the same planes as each other when the link parts rotate to the reference positions. |
