| 摘要 |
PROBLEM TO BE SOLVED: To tilt a tip part without separately requiring a driving motor for driving in a first direction and a driving motor for driving in a second direction perpendicular to the first direction within a prescribed plane and without providing an independent tilting mechanism. SOLUTION: This movable device (article conveying device 10A) is provided with a parallel link mechanism 20 having first link 21, second link 22 and third link 23 having base end parts connected to a base part 12, and an output member 24 connected all of distal ends of the first link 21, the second link 22 and the third link 23, and fixing relative position and attitude of the output member 24 on the prescribed plane in relation to the base part 12 by driving states of the first link 21, the second link 22 and the third link 23, and a tool 40 (an article holding part 40A) mounted on the output member 24 of the parallel link mechanism 20. COPYRIGHT: (C)2009,JPO&INPIT
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