| 摘要 |
A bearing is interposed in the revolute pair between a proximal end side link hub (2) and each proximal side end link member (5). A control device controls an actuator, to perform work-time control for causing a determined work operation to be executed and to perform, while the work-time control is stopped, grease circulation control for circulating grease sealed in the bearing. The maximum value ¸ max of a bending angle in the work-time control does not exceed the maximum allowable bending angle ¸' max being the maximum value of the bending angle allowable in the mechanism, and the maximum value of the bending angle in the grease circulation control is greater than the maximum value ¸ max of the bending angle in the work-time control and smaller than the maximum allowable bending angle ¸' max . |
