Possesses lever - parallel link type position attitude transmission feature and lever - parallel link type position attitude transmission feature the manipulator

摘要

PROBLEM TO BE SOLVED: To reduce the noise by supporting a third link member rotatably about two shafts perpendicular to each other. ;SOLUTION: Three fourth link members 25 are mounted around a third link member 15 in parallel with a Z-axis of the third link member 14 to form a prallel link mechanism. Three fourth link members 25 are made of a material capable of bearing the tensile force such as a wire, a rod and the like, and connected with a first line member 5 at its one end and to a second link member 7 at the other end by means of couplings 26. When the fourth link members 25 are made of the rod capable of bearing both of the tensile force and the compressive force, two fourth link members can sufficiently bear the same. To constantly keep the third link member 15 and the fourth link members 25 in parallel with each other, the relative positions between the universal joint 24 as a center of the rotation and the couplings 26 are equlified. The couplings 26 of the fourth link members 25, the first link member 5 and the second link member 7, are rotatably around the perpendicular three shafts.;COPYRIGHT: (C)2000,JPO