LINK ACTUATION DEVICE MANIPULATING DEVICE AND LINK ACTUATION SYSTEM

WIPO Patent Application WO/2017/213013

A1

Provided is a link actuation device manipulating device with which teaching of a target tip-end attitude can be easily performed, and input conversion into an angular coordinate system can be simply and quickly performed without performing convergence computations. In a link actuation device (50), a tip-end side link hub (3) is coupled with a base-end side link hub (2) via three or more sets of link mechanisms (4) in an attitude-changeable manner, wherein two or more sets of the link mechanisms (4) are provided with an actuator (51) by which a tip-end attitude which is the attitude of the tip-end side link hub (3) with respect to the base-end side link hub (2) is modified as needed. The manipulating device (62) is provided with an attitude acquisition means (64) which acquires the tip-end attitude expressed by a bent angle θ and a rotating angle Φ from the coordinate position (X', Y') at which a spherical link center PB of the tip-end side link hub (3) is projected onto a 2-dimensional orthogonal coordinate system (working plane W) of which the origin O' is positioned on the axis of extension of a central axis QA of the base-end side link hub (2), and which is orthogonal to the axis of extension of the central axis.

MARUI NAOKI (JP)
ISOBE HIROSHI (JP)
SAKATA SEIGO (JP)

PCT/JP2017/020408

December 14, 2017

June 01, 2017

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NTN TOYO BEARING CO LTD (JP)

B25J9/10; F16H21/46

WO2006102393A2	2006-09-28
WO2009148603A1	2009-12-10

JP2013202725A	2013-10-07
JP2014188602A	2014-10-06
JP2015155124A	2015-08-27
US5893296A	1999-04-13
JP2013202725A	2013-10-07

See also references of EP 3466614A4

SUGIMOTO, Shuji et al. (JP)

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