| 摘要 |
PROBLEM TO BE SOLVED: To improve the design flexibility of a rigid oval at a link tip without arranging drive sources that are heavy components in first and second links. ! SOLUTION: A linkage mechanism drive device 100 includes two links 101, 102. The link 101 is rotatably connected with a base part through a joint J1. The link 102 is rotatably connected with the link 101 through a joint J2. The linkage mechanism drive device 100 includes: a drive source 151 disposed at the base part; and a transmission mechanism 152 which transmits driving of the driving source 151. Further, the linkage mechanism drive device 100 includes a rigidity providing mechanism 153 disposed in the joint J2 and providing rigidity, which corresponds to a driving force of the driving source 151 transmitted from the transmission mechanism 152, to the joint J2. ! COPYRIGHT: (C)2014,JPO&INPIT |
