Patent ID: 8456124

Claim:
A parallel mechanism comprising: a base portion, a bracket to which an end effecter is rotatably attached; a plurality of links through which the base portion and the bracket are coupled together in parallel; a motor attached to the base portion; a turning shaft having one end connected to an output shaft of the motor and other end connected to the end effecter, and arranged to transmit a rotational driving force of the motor to the end effecter; and a control device arranged and programmed to control the motor; wherein the control device is programmed to control the motor so that when the turning shaft in a stopped state because angular speed of the motor is zero is rotated to a target rotation angle position, a rotational acceleration time required to increase the angular speed of the motor from zero to a maximum value is shorter than a rotational deceleration time required to reduce the angular speed of the motor from the maximum value to zero; the control device is programmed to control the motor so that rotation of the motor is stopped before the end effecter lowers by a predetermined lowering distance; and the control device is programmed to control the motor so that a time from the stopping of the rotation of the motor until stopping of the end effecter at a target position is longer than a time until the end effecter, having been lowered by the predetermined lowering distance, is stopped at the target position.