Title:
OPERATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/212197
Kind Code:
A1
Abstract:
This operation device is provided with a base unit (101), an operation unit (102) arranged above the base unit (101) and having a movable part (11) and a gripped part (12), a parallel link mechanism comprising a pair of arm units and a pair of link units, a position sensor for detecting the position of the base end of the arm unit, and a controller (110) which, on the basis of the position detected by the position sensor, controls the position and/or orientation of the robot. The base end of the arm units is rotatably connected to the base unit (101), the base end of the link units is rotatably connected to the arm units, the distal end of the link units is rotatably connected to the movable part (11), and the base unit (101) and the movable part (11) are linked together by three parallel link mechanisms (103A-103C) so as to allow six degrees of freedom.
Inventors:
KAMON MASAYUKI
RYU HIDEYUKI
RYU HIDEYUKI
Application Number:
PCT/JP2018/018800
Publication Date:
November 22, 2018
Filing Date:
May 15, 2018
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J13/02; B25J3/00; F16H21/46; G05G9/047
Domestic Patent References:
| WO2012103648A1 | 2012-08-09 |
Foreign References:
| JP2000148382A | 2000-05-26 | |||
| JP2010146307A | 2010-07-01 | |||
| JP2009255193A | 2009-11-05 | |||
| US6047610A | 2000-04-11 | |||
| JP2008279527A | 2008-11-20 | |||
| JP2005536703A | 2005-12-02 |
Other References:
ARATA, JUMPEI ET AL.: "Development of haptic device ''DELTA-4'' using parallel mechanism", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 27, no. 8, October 2009 (2009-10-01), pages 93 - 101, XP055549558
See also references of EP 3626410A4
See also references of EP 3626410A4
Attorney, Agent or Firm:
PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)
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