| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a link actuating device capable of easily preventing contact between an object for binding, supporting, or guiding and a link mechanism even with a compact configuration having small outer diameter dimensions. <P>SOLUTION: The link actuating device 1 includes link hubs 2 and 3 respectively arranged on input and output sides, and two link mechanisms 4A and 4B. The link mechanisms 4A and 4B are three-joint chain link mechanisms comprising four revolute pairs, wherein edge links 5 and 6 are joined in a rotatable manner relative to the link hubs 2 and 3, and the edge links 5 and 6 on the input side and the output side are joined in a rotatable manner relative to a center link 7. The link mechanism 4B includes interlocking means 9 for rotating and displacing the edge links 5 and 6 of the input and output sides by interlocking both edge links 5 and 6 with each other. The link mechanism 4A includes two or more actuators 23 and 24 capable of arbitrarily changing the rotational angle of the revolute pairs or changing a relative distance between the two link mechanism components. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
