| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a link operation device provided with a control means for obtaining attitude of an output side link hub for rotation angle input into an input side link hub and a rotation angle of an end part link member of the input side link hub for attitude input into the output side link hub. <P>SOLUTION: This link operation device has three sets of link mechanisms 1 to 3 connecting end part link members 1a to 3a, 1c to 3c so as to rotate for link hubs 4, 5 arranged on an input side and an output side, respectively, and connecting respective end part link members 1a to 3a, 1c to 3c on the input side and the output side so as to rotate for central link members 1b to 3b and forms the input side and the output side the same geometrically with respect to cross section in central parts of each link mechanism 1 to 3. Attitude of the output side link hub 5 can be controlled by reverse conversion by an expression of attitude of the output side link hub specified by a folding angleθand a turn angleϕand a rotation angleβn of the end part link member of the input side link hub, and attitude of the output side link hub 4 can be detected by forward conversion. <P>COPYRIGHT: (C)2005,JPO&NCIPI</p> |
