Patent ID: 9249869
Filing Date: 2016-02-02
CPC Classification: B25J,F16H,Y10T

Claim Text:
1. A link actuating device to connect an output member to an input member through three or more set of link mechanisms for alteration in posture, each of the link mechanisms including: end portion link members on an input side and an output side having one ends thereof rotatably connected respectively to the input member and the output member; an intermediate link member to which the other ends of the respective end portion link members on the input side and the output side are rotatably connected; immobilizing mechanisms to immobilize the output member in an arbitrary attitude relative to the input member are provided in all of the three or more link mechanisms, the immobilizing mechanisms each including an actuator connected directly or indirectly to the end portion link member on the input side, the actuators acting so as to restrain rotation of the end portion link member on the input side relative to the input member; a structure body is provided to connect the input member and the output member to each other while being in contact with a contacted portion formed in the input member and a contacted portion formed in the output member; and a controller that, when the immobilizing mechanisms immobilize the output member in an arbitrary attitude relative to the input member, controls the actuators so as to increase a contact force acting between the structure body and the contacted portions of the input member and the output member, wherein a geometric model representing each of the link mechanisms by a straight line is such that an input side portion and an output side portion of each of the intermediate link members relative to an intermediate portion of each of the intermediate link members are symmetrical to each other.