Patent ID: 6701219
Filing Date: 2004-03-02
Classification: B04B,G01N

Abstract:
A control method for a link arm mechanism,said link arm mechanism comprising: a first guide member and a second guide member disposed in parallel with each other; a first slider shiftable along said first guide member; a second slider shiftable along said second guide member; a first arm having a length longer than a clearance between axes of said first guide member and said second guide member, with one end pivotally supported by said first slider; a second arm having a length longer than the clearance between the axes of said first guide member and said second guide member, with one end pivotally supported by said second slider; and a shift member supported by the other ends of said first and second arms and supporting a working device, and said control method comprising the step of: shifting said shift member along a line normal to the sliding direction of said first and second sliders by controlling the sliding positions of said first and second sliders so as to satisfy the following relationship Bx=x1-L22-[L1&it;â€ƒ&it;sin&it;{cos-1&it;â€ƒ&it;(x1-AxL1)}+d]2â€ƒwhere â€œL1â€  represents the length of said first arm, â€œL2â€  represents the length of said second arm, â€œdâ€  represents the clearance between the arm pivot axes on said first slider and said second slider, â€œAxâ€  represents the position of said first slider in said sliding direction and â€œBxâ€  represents the position of said second slider in said sliding direction, and â€œx1â€  represents the position of said shift member in said sliding direction.