| 摘要 |
PROBLEM TO BE SOLVED: To accurately move and position a moving section by providing a link structure which holds the moving section with a plurality of link rods and moves the moving section with the expansion/shrinkage of the link rods, and positioning the moving section with a conversion equation from the orthogonal coordinate system to a link coordinate system. SOLUTION: Three pairs of right and left link rods 8 are arranged at intervals in the axial direction of a main body to suspend and support the main body having a spindle fitted with a tool. The link rods 8 are suspended from both universal bearings 3, and lower ends are connected to a universal link section 9. A pair of link rods 8 are arranged in the form of a triangle having a base between right and left nuts 4 and an apex at a link point on the connection axis of the universal link section 9. The input signal is processed by using a conversion equation from the orthogonal coordinate system to the link coordinate system for calculating the slide quantity of the link rods 8, and the coordinates of each link point are accurately calculated to move and position the main body as a moving section.
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