| 摘要 |
<p>PURPOSE: A parallel mechanism is provided to detect the coming-out of a ball joint connecting arms movably. CONSTITUTION: A parallel mechanism(1) is composed of a first link whose one end is connected to an actuator attached to a base unit(2), a second link connecting the other end of the first link and a bracket(14) and having a pair of rods(9), a first ball joint connecting one end of a pair of rods comprising the second link and the other end of the first link movably, a second ball joint connecting the other end of a pair of rods and the bracket, and a tensile member biasing a pair of rods to the pulling direction. One or more ball joint of the first and second ball joints has a ball stud having a spherical head unit and a socket movably holding the spherical head unit. The socket has a semi-spherical concave and an extension unit.</p> |
