Patent ID: 11865718
Assignee: NTN CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A working device using a parallel link mechanism, the working device comprising:
a link actuation device including:
a proximal-side link hub; a distal-side link hub; three or more link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub is changed relative to the proximal-side link hub; and posture control actuators provided to two or more link mechanisms of the three or more link mechanisms and configured to arbitrarily change the posture of the distal-side link hub relative to the proximal-side link hub; and
each of the link mechanisms including: a proximal-side end link member having one end rotatably coupled to the proximal-side link hub; a distal-side end link member having one end rotatably coupled to the distal-side link hub; and an intermediate link member having opposite ends rotatably coupled to other ends of the proximal-side end link member and the distal-side end link member; and
a control device configured to control each of the posture control actuators to change the posture of the distal-side link hub relative to the proximal-side link hub such that a position determined based on the distal-side link hub is changed from a current position to a target position,

wherein the control device includes:
a storage unit configured to store a plurality of target positions;
a calculation unit configured to sequentially read out respective target positions stored in the storage unit to calculate movement amounts and movement speeds of respective posture control actuators between the target positions; and
a control unit configured to operate the respective posture control actuators by the movement amounts and at the movement speeds of the respective posture control actuators calculated by the calculation unit, and
the control unit is configured to change acceleration and deceleration times of the posture control actuators for each of the target positions.