| 摘要 |
<p>[Object] To provide a parallel mechanism that is driven with at least four degrees of freedom with both high speed and high accuracy ensured. [Means of Realizing the Object] Four turnable actuators (31 to 34) disposed at a fixed plate (1) drive a movable plate (2) in a completely parallel manner with four degrees of freedom through four peripheral driving mechanisms (41 to 44). The four peripheral driving mechanisms (41 to 44) include upper arms (411, 421, 431, and 441) integral with rotors of the turnable actuators (31 to 34), lower arms (412, 422, 432, and 442) each made up of a parallel linkage, upper joints (413, 423, 433, and 443) coupling an upper arm and a lower arm to one another, and lower joints (414, 424, 434, and 444) coupling the lower arm and the movable plate (2) to one another. The two the lower joints 414 and 434 among the four lower joints are each made up of a turning pair of two degrees of freedom in which two pair axes are orthogonal to one another.</p> |
