Patent ID: 7513173

Claim:
A parallel link mechanism comprising: a first arm having a proximal portion and a distal portion, a cylindrical connection shaft having a first rotational axis being provided near the proximal portion of the first arm, the proximal portion of the first arm being rotatably connected to a fixed base through the connection shaft; a second arm having a proximal portion and a distal portion, the distal portion of the second arm being rotatably connected to a movable base, the proximal portion of the second arm being rotatably connected to the distal portion of the first arm through a connecting portion connected to a transmission mechanism; a first auxiliary link, the first auxiliary link forming a first parallel link together with the first arm, the connecting portion, and the fixed base; a second auxiliary link, the second auxiliary link forming a second parallel link together with the second arm, the connecting portion, and the movable base; and a drive motor that drives the transmission mechanism to pivot the first arm and the second arm, the drive motor including a motor shaft having a second rotational axis, wherein the drive motor is arranged in the fixed base, and wherein the drive motor is fixed to either the first arm or the connection shaft with the second rotational axis being offset from the first rotational axis in a radial direction of the connection shaft in such a manner that, when the first arm rotates about the first rotational axis, the drive motor is allowed to rotate about the first rotational axis together with the first arm.