US 11,668,375 B2
Parallel link mechanism and link actuation device
Akihiro Hayashi, Iizuka (JP); Hirofumi Fukumaru, Iizuka (JP); Taiga Okamoto, Iizuka (JP); Kenzou Nose, Iwata (JP); Hideki Matsuzawa, Iwata (JP); Hiroshi Isobe, Iwata (JP); and Seigo Sakata, Iwata (JP)
Assigned to KYUSHU INSTITUTE OF TECHNOLOGY, Fukuoka (JP); and NTN CORPORATION, Osaka (JP)
Appl. No. 17/283,218
Filed by KYUSHU INSTITUTE OF TECHNOLOGY, Fukuoka (JP); and NTN CORPORATION, Osaka (JP)
PCT Filed Oct. 9, 2019, PCT No. PCT/JP2019/039901
§ 371(c)(1), (2) Date Apr. 6, 2021,
PCT Pub. No. WO2020/075779, PCT Pub. Date Apr. 16, 2020.
Claims priority of application No. JP2018-191816 (JP), filed on Oct. 10, 2018; application No. JP2018-229954 (JP), filed on Dec. 7, 2018; and application No. JP2018-230100 (JP), filed on Dec. 7, 2018.
Prior Publication US 2021/0388887 A1, Dec. 16, 2021
Int. Cl. F16H 21/46 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC F16H 21/46 (2013.01) [B25J 9/0048 (2013.01); B25J 9/1623 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A parallel link mechanism comprising:
a proximal end member; and
three or more link mechanisms, wherein
the three or more link mechanisms connect the proximal end member to a distal end member,
the three or more link mechanisms are capable of changing a posture of the distal end member relative to the proximal end member,
each of the three or more link mechanisms includes
a first link member rotatably connected to the proximal end member at a first revolute pair unit,
a second link member rotatably connected to the first link member at a second revolute pair unit,
a third link member rotatably connected to the second link member at a third revolute pair unit, and
a fourth link member rotatably connected to the third link member at a fourth revolute pair unit,
the fourth link member is rotatably connected to the distal end member at a fifth revolute pair unit,
in the three or more link mechanisms, a first center axis of the first revolute pair unit and a second center axis of the second revolute pair unit intersect at a spherical link center point, and
fifth center axes of the respective fifth revolute pair units of the three or more link mechanisms overlap each other and intersect with the spherical link center point.