| 摘要 |
A parallel-link operational device in which links of a link mechanism connecting rotary actuators (6) and a movable member (5) do not protrude outside an area of a base (4). Six flat rotary actuators (6) driven to control position and posture of the movable member (5) are provided on the base (4), rotary output shafts (12) of which are disposed radially pointing toward the center of the base (4). The links (11) fixedly mounted on the rotary output shafts (12) of the actuators (6) are connected by joints (13) to one end of rods (10), and the other end of the rods (10) are connected to the movable member (5) by joints (14). An end effector (20) mounted on the movable member (5) is rotated by an actuator (7) for posture control mounted on the base (4) via a rotational-force transmission mechanism (15) composed of joints, spline couplings, etc. The links (11) rotate in planes parallel to the sides of the base (4) without protruding beyond the area covered by the base (4). |
