PARALLEL LINK ROBOT WITH ATTITUDE CHANGE MECHANISM HAVING THREE DEGREES OF FREEDOM

摘要

PPROBLEM TO BE SOLVED: To provide a parallel link robot increased in freedom of an attitude change shaft. PSOLUTION: In the parallel link robot PR, three sets of link mechanisms 26 each consisting of a driving link 30 and a driven link 32 are joint-connected in parallel between a base member 12 and a movable member 100, and the robot PR is equipped with an attitude mechanism part 102 having three degrees of freedom for controlling an attitude of an end effector in the movable member 100. The parallel link robot is equipped with: a first rotation member rotatably connected to the movable member 100 around a fourth axis perpendicular to a plane including rotation axes of respective joints 36 for connecting the movable member 100 and the three driven links 32; a second rotation member rotatably connected to the first rotation member around a fifth axis perpendicular to the fourth axis; and a third rotation member rotatably connected to the second rotation member around a sixth axis perpendicular to the fifth axis. PCOPYRIGHT: (C)2011,JPO&INPIT