| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a link actuating device which can be configured by two link mechanisms and has high rigidity regardless of compact configuration having small outer diameter dimensions. <P>SOLUTION: The link actuating device 1 includes link hubs 2 and 3 arranged respectively on input and output sides, and two link mechanisms 4A and 4B. The link mechanisms 4A and 4B are three-joint chain link mechanisms comprising four revolute pairs, wherein edge links 5 and 6 are joined in a rotatable manner relative to the link hubs 2 and 3, and the edge links 5 and 6 are joined in a rotatable manner relative to a center link 7. At least one of the two link mechanisms 4A and 4B includes interlocking means 9 for rotating and displacing the edge links 5 and 6 of the input and output sides by interlocking both edge links 5 and 6 with each other. The two link mechanisms 4A and 4B include two different link mechanisms, e.g., elongated/contracted linear actuators 25 having both ends connected directly or indirectly to both ends of the link hub 2 and the end link 5, respectively. <P>COPYRIGHT: (C)2013,JPO&INPIT |
