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    • 32. 发明授权
    • Link actuation device
    • 链接致动装置
    • US09533420B2
    • 2017-01-03
    • US14937117
    • 2015-11-10
    • Keisuke SoneHiroshi IsobeYukihiro Nishio
    • Keisuke SoneHiroshi IsobeYukihiro Nishio
    • B25J11/00B25J17/00B25J9/00B25J19/00
    • B25J17/00B25J9/0048B25J19/0025
    • A distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that alteration in posture of the distal end side link hub is allowed. Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. A line member is disposed between the link hubs, two ends of the line member being held at line member holding points which are on link hub central axes, respectively. In a state where the link hubs are parallel to each other, when the distance from a midpoint to each spherical link center is defined as (D) and the distance from each spherical link center to its corresponding line member holding point is defined as (H), the relationship H=0.5×D is established.
    • 远端侧连接轮毂经由三根以上的连杆机构与近端侧连接轮毂连接,能够使前端侧连杆毂的姿态发生变化。 每个连杆机构包括近端侧连杆部件,远端侧连杆部件和中间连杆部件。 线构件设置在连接轮毂之间,线构件的两端分别保持在线构件保持点上,分别位于连杆毂中心轴上。 在连接轮毂彼此平行的状态下,当从中点到每个球形连杆中心的距离被定义为(D),并且从每个球形连杆中心到其对应的线构件保持点的距离被定义为(H ),建立了H = 0.5×D的关系。