Patent ID: 11298814

Abstract:
A link actuation device includes a proximal-end-side link hub, a distal-end-side link hub, three or more link mechanisms each coupling the link hubs such that a posture of the distal-end-side link hub can be changed relative to the proximal-end-side link hub. Each link mechanism includes a proximal-side end link member, a proximal-side intermediate link member, a distal-side intermediate link member, and a distal-side end link member. Actuators for arbitrarily changing the posture and a distance from the distal-end-side link hub to the proximal-end-side link hub are provided to three or more link mechanisms of the three or more link mechanisms. A control unit calculates a rotation angle of the proximal-side end link member according to a targeted posture of the distal-end-side link hub and a targeted distance between the centers of the spherical links, and controls the respective actuators so as to attain the calculated rotation angle.