Patent ID: 7752939

Claim:
A parallel link mechanism arranged between a fixed base and a movable base, the mechanism comprising: a harmonic drive gear reducer having a body, an input shaft, a first output shaft, and a second output shaft; a first arm having a proximal end pivotally connected to the fixed base and a distal end connected to the body of the reducer; a second arm having a proximal end connected to the second output shaft and a distal end pivotally connected to the movable base; a connection base that is arranged outside the second arm with respect to the reducer and connected to the first output shaft; a first auxiliary link arranged parallel with the first arm, the first auxiliary link having an end pivotally connected to the fixed base and an end pivotally connected to the connection base; and a second auxiliary link arranged parallel with the second arm, the second auxiliary link having an end pivotally connected to the connection base and an end pivotally connected to the movable base.