Patent ID: 11858136
Assignee: NSK LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B  F | IPC B

Claim 0:
1. A parallel link mechanism comprising:
a fixed base fixed to a base;
an end-effector base disposed away from the fixed base in a first direction and that supports a tool; and
at least three or more link mechanisms each coupled to the fixed base at a first end and to the end-effector base at a second end, wherein
the end-effector base comprises:
a support that supports the tool such that a distal end of the tool points in the first direction;
a facing surface facing a second direction in which the fixed base is disposed when viewed from the end-effector base; and
a first surface opposite to the facing surface and facing the first direction,

the link mechanisms each comprise:
a proximal-end joint rotatably coupled to the fixed base;
a proximal link coupled to the proximal-end joint at a first end;
an intermediate joint provided at a second end of the proximal link;
a distal link rotatably coupled to the proximal link at a first end via the intermediate joint; and
a distal-end joint that rotatably couples a second end of the distal link to the end-effector base,

a point of intersection at which an extension of an axis of rotation of the proximal-end joint, an extension of an axis of rotation of the intermediate joint, and
an extension of an axis of rotation of the distal-end joint intersect is at a center of rotation of the end-effector base, and
the center of rotation of the end-effector base is positioned in the first direction with respect to the first surface on a center line of the tool.