Patent ID: 7971505

Claim:
A link actuating device which has at least three sets of link mechanisms each including four rotation pair portions formed by rotatably connecting end link members to input and output members respectively arranged on input and output sides and rotatably connecting the end link members on the input and output sides to an intermediate link member, with the input and output sides being geometrically the same with respect to a cross section at the central portion of each link mechanism, wherein each rotation pair portion of the link mechanisms has a bearing structure composed of two bearings and a shaft inserted within and rotatably supported by the two bearings, wherein at least one of the input member and the output member has a through-hole formed in a radial direction thereof through which the shaft is inserted and having the two bearings mounted therein, and wherein a play filling-up means for regulating axial movement of the two bearings is provided in the rotation pair portion.