| 摘要 |
A parallel link mechanism includes a first arm (3), a second arm (30), a first auxiliary link (55), a second auxiliary link (56), and a drive motor (10). A cylindrical connection shaft (5) having a first rotational axis (L1) is provided near the proximal portion of the first arm (3). The proximal portion of the first arm (3) is rotatably connected to a fixed base (2) through the connection shaft (5). The distal portion of the second arm (30) is rotatably connected to a movable base (40). The proximal portion of the second arm (30) is rotatably connected to the distal portion of the first arm (3) through a connecting portion (50) connected to a transmission mechanism (20). The first auxiliary link (55) forms a first parallel link together with the first arm (3), the connecting portion (50), and the fixed base (2). The second auxiliary link (56) forms a second parallel link together with the second arm (30), the connecting portion (50), and the movable base (40). The drive motor (10) drives the transmission mechanism (20) to pivot the first arm (3) and the second arm (30). The drive motor (10) includes a motor shaft (11) having a second rotational axis (M1). The drive motor (10) is fixed to either the first arm (3) or the connection shaft (5) with the second rotational axis (M1) being offset from the first rotational axis (L1) in a radial direction of the connection shaft (5) in such a manner that, when the first arm (3) rotates about the first rotational axis (L1), the drive motor (10) is allowed to rotate about the first rotational axis (L1) together with the first arm (3). |
