LINK ACTUATING DEVICE

摘要

A distal side link hub (15) is connected with a proximal end side link hub (14) through three sets of link mechanisms (11 to 13) for alteration in posture. At least two sets of the link mechanisms include an actuator (30) for arbitrarily changing the posture of the distal end side link hub (15) relative to the proximal end side link hub (14) by rotating a proximal side end link member (11a to 13a) and a reduction gear unit (31) for reducing the speed of and transmitting the operation amount of the actuator (30) to the proximal side end link member (11a to 13a). The reduction gear unit (31) includes a geared speed reducing section (33) having a small gear (36) rotated by the actuator (30) and a large gear (37) provided in the proximal side end link member (11a to 13a). The radius of pitch circle of the large gear (37) is chosen to be equal to or greater than the arm length (L) of the proximal side end link member (11a to 13a).