US 12,305,736 B2
Parallel link mechanism and link actuation device
Kenzou Nose, Iwata (JP); and Hideki Matsuzawa, Iwata (JP)
Assigned to NTN CORPORATION, Osaka (JP)
Appl. No. 17/441,669
Filed by NTN CORPORATION, Osaka (JP)
PCT Filed Mar. 18, 2020, PCT No. PCT/JP2020/012004
§ 371(c)(1), (2) Date Sep. 21, 2021,
PCT Pub. No. WO2020/196164, PCT Pub. Date Oct. 1, 2020.
Claims priority of application No. 2019-054806 (JP), filed on Mar. 22, 2019; and application No. 2019-145973 (JP), filed on Aug. 8, 2019.
Prior Publication US 2022/0166288 A1, May 26, 2022
Int. Cl. F16H 21/02 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); F16H 21/46 (2006.01)
CPC F16H 21/02 (2013.01) [B25J 9/0048 (2013.01); B25J 9/1623 (2013.01); F16H 21/46 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A parallel link mechanism comprising:
a proximal end-side link hub;
three or more link mechanisms;
three or more rotating bodies connected to the three or more link mechanisms, respectively; and
a distal end-side link hub, wherein
the three or more rotating bodies are rotatably coupled to the proximal end-side link hub and are aligned such that respective rotation center axes coincide one another,
each of the three or more link mechanisms includes i) a first link member and ii) a second link member rotatably connected to the first link member at a first revolute pair portion,
the second link member is rotatably connected to the distal end-side link hub at a second revolute pair portion,
the first link member of each of the three or more link mechanisms is fixed to one of the three or more rotating bodies,
in the three or more link mechanisms, a first center axis of the first revolute pair portion intersects with a second center axis of the second revolute pair portion at a spherical link center point,
a rotation center axis of the three or more rotating bodies intersects with the spherical link center point,
the proximal end-side link hub has a surface facing the three or more rotating bodies,
the three or more rotating bodies are stacked in a direction along the rotation center axis on the surface of the proximal end-side link hub in order from a side closer to the proximal end-side link hub, and
the parallel link mechanism further comprises a fastening member that fixes the three or more rotating bodies to the proximal end side link hub, and a plurality of bearings that are disposed between the fastening member and each of the three or more rotating bodies.