| 摘要 |
PROBLEM TO BE SOLVED: To provide compliance in a plane inward direction to be capable of miniaturizing.SOLUTION: A compliance device comprises: a first plate 11 and a second plate 12 which are arranged opposing each other; three link mechanisms 13 which relatively displace the first plate 11 and the second plate 12 within the opposing surfaces; and a controller 14 which respectively controls the operation of the link mechanisms 13. The link mechanism 13 comprises: a first frame 131 and a second frame 132; a first rolling mechanism 133 which rotatably connects the first frame 131 with the first plate 11; a second rolling mechanism 134 which rotatably connects the second frame 132 with the second plate 12; and a linear actuator 135 which generates thrust between the first frame 131 and the second frame 132; a position sensor 136 which detects displacement between the first frame 133 and the second frame 134 by the linear actuator 135. The controller 14 controls the linear actuator 135 on the basis of the detection result by the position sensor 136. |
