Patent ID: 9746037
Date: 2017-08-29
CPC Classifications: A61F,B25J,F16D,F16H,F16M,Y10T

Claim:
1. A link actuating device comprising: input side and output side link hubs; input side and output side end links to be rotatably connected to the input side and output side link hubs, respectively; an intermediate link to be rotatably connected to the input side and output side end links; and two sets of a three-link-chain link mechanism, each three-link-chain mechanism including four revolute pairs composed of the input side end link, the intermediate link and the output side end link, wherein each of the four revolute pairs have a first revolute pair axis between the input side link hub and the input side end link, a second revolute pair axis between the output side link hub and the output side end link, a third revolute pair axis between the input side end link and the intermediate link, a fourth revolute pair axis between the output side end link and the intermediate link; the two sets of link mechanisms have a positional relationship in which, on both the input side and the output side, the respective first revolute pair axes of the two sets of link mechanisms are located on the same plane and cross each other; and at least one of the two sets of link mechanisms is provided with an interlocking unit to interlock the input side end link and the output side end link to each other so as to be rotationally displaced, wherein the intermediate link of each of the two sets of link mechanisms is located on a side on which an angle between the first revolute pair axes of the two link mechanisms is greater than 180°.