CPC F16H 21/46 (2013.01) [B25J 9/0048 (2013.01); B25J 9/1623 (2013.01)] | 15 Claims |
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.
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