PARALLEL MANIPULATOR

WIPO Patent Application WO/2011/155070

A1

Disclosed is a parallel manipulator provided with an end effector (1), a plurality of links (3) at one end of each of which the end effector (1) is supported, and a plurality of solid cam mechanisms (10) each of which is connected to the other end of one of the links (3). Each of the solid cam mechanisms (10) comprises a solid cam (11) which is driven into rotation about a cam rotating shaft (11A) by a rotary actuator (22), and a follower (12) which is supported in such a way as to be rotatable about a follower rotating shaft (12A) and which is connected to one of the links (3). A three-dimensional cam guide surface (13) is formed on the solid cam (11). The cam rotating shaft (11A) and the follower rotating shaft (12A) are provided in such a way as to form a twisted positional relationship. When the solid cam (11) rotates about the cam rotating shaft (11A), the follower (12) swings about the follower rotating shaft (12A) while being guided by the cam guide surface (13).

WO/2000/040375	SYSTEM AND METHOD FOR ADJUSTING A WORKING DISTANCE TO CORRESPOND WITH THE WORK SURFACE
WO/2023/207258	INTERACTIVE EMOTIONAL ROBOT SUITABLE FOR ELDERLY PEOPLE

TAKAHASHI TAKAYUKI (JP)
ANZAWA KOTA (JP)

PCT/JP2010/059977

December 15, 2011

June 11, 2010

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NAT UNIVERSITY CORP FUKUSHIMA UNIVERSITY (JP)
TAKAHASHI TAKAYUKI (JP)
ANZAWA KOTA (JP)

B25J11/00; F16H21/54; F16H25/18; F16H37/12

JP2001520941A	2001-11-06
JPH1158286A	1999-03-02
JP2008298165A	2008-12-11
JPH0919883A	1997-01-21
JP2003311667A	2003-11-05

NISHIKAWA, Yoshikiyo et al. (JP)
Yoshikiyo Nishikawa (JP)

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