| 摘要 |
PROBLEM TO BE SOLVED: To provide a connection mechanism having a wide operating range capable of changing a connection type of a driving force generating device into all of a serial arrangement type, a parallel arrangement type, an oblique arrangement type and a vertical arrangement type. SOLUTION: This driving force generating device connection mechanism includes a central structure, yawing axis/pitching axis rotary joints, inner links, roll axis rotary joints and outer links. The two yawing axis/pitching axis rotary joints are positioned at both ends of the central structure. The inner links are connected to the yawing axis/pitching axis rotary joints, respectively, and angles of the inner links with respect to the central structure are changed by the rotary joints. The roll axis rotary joints are coupled to one end sides of the inner links to which the yawing axis/pitching axis rotary joints are not coupled, respectively. The outer links are mounted to the two roll axis rotary joints. COPYRIGHT: (C)2007,JPO&INPIT
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