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WO2016035564A1 - Dispositif d'actionnement de tringles - Google Patents

Dispositif d'actionnement de tringles Download PDF

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Publication number
WO2016035564A1
WO2016035564A1 PCT/JP2015/073418 JP2015073418W WO2016035564A1 WO 2016035564 A1 WO2016035564 A1 WO 2016035564A1 JP 2015073418 W JP2015073418 W JP 2015073418W WO 2016035564 A1 WO2016035564 A1 WO 2016035564A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
end side
hub
proximal
mechanisms
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/073418
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English (en)
Japanese (ja)
Inventor
直哉 小長井
浩 磯部
清悟 坂田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTN Corp
Original Assignee
NTN Corp
NTN Toyo Bearing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NTN Corp, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Publication of WO2016035564A1 publication Critical patent/WO2016035564A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/46—Gearings comprising primarily only links or levers, with or without slides with movements in three dimensions

Definitions

  • the present invention relates to a link operating device having a parallel link mechanism incorporated in precision equipment such as medical equipment and industrial equipment that requires a wide operating range.
  • the working device disclosed in Patent Document 1 includes a parallel link mechanism that changes the position and posture of the traveling plate with respect to the base plate by cooperatively expanding and contracting a plurality of links connecting the base plate and the traveling plate.
  • a parallel link mechanism that changes the position and posture of the traveling plate with respect to the base plate by cooperatively expanding and contracting a plurality of links connecting the base plate and the traveling plate.
  • the link actuating device disclosed in Patent Document 2 includes a proximal end link that is rotatably connected to a proximal link hub, and a distal end that is rotatably connected to a distal link hub. And a central link in which the proximal end link and the distal end link are rotatably connected to each other, and has a three-joint link mechanism composed of four rotary pairs.
  • the link actuating device disclosed in Patent Document 2 controls the rotational position of the base end side end link.
  • the control method is not disclosed, and the base end side end portion is also disclosed.
  • the control means for obtaining the attitude of the distal end side link hub with respect to the rotation angle input to the link and for obtaining the rotation angle of the proximal end link with respect to the attitude input to the distal side link hub is disclosed. It has not been.
  • the present applicant obtains the attitude of the distal end side link hub with respect to the rotation angle input to the proximal end side end link, or the rotation of the proximal end side end link with respect to the attitude input to the distal end side link hub.
  • a link actuating device that discloses a relational expression between the attitude of the distal end side link hub and the rotation angle of the proximal end side end link has been proposed (for example, see Patent Document 3).
  • the link actuating device disclosed in Patent Document 3 includes a rotation angle ⁇ of the base end side end link, an axis angle ⁇ of the center link, and the circumference of each base end side end link with respect to the reference base end side end link. It is possible to control the attitude of the tip-side link hub by inverse transformation using a relational expression with the direction separation angle ⁇ , the bending angle ⁇ and the turning angle ⁇ defining the attitude of the tip-side link hub as parameters, or according to the relational expression.
  • the forward link hub can be detected by forward conversion.
  • the present invention has been proposed in view of the above-described improvements, and the object of the present invention is to provide a link operating device excellent in responsiveness when applied to a precision medical device or the like. is there.
  • the present invention includes a proximal end link that is rotatably connected to the proximal link hub, and an end that is connected to the distal link hub. It is composed of a distal end side link that is rotatably connected, and a central link that is rotatably connected to the other end of the proximal end link and the other end of the distal end link.
  • a link operating device having at least three sets of three-link linkage mechanisms consisting of the above, and connecting the distal end side link hub to the proximal end side link hub via the link mechanism so that the posture can be changed.
  • the difference in the circumferential separation angle between the base end side end link of one link mechanism and the base end side end link of the other link mechanism is 180 °.
  • Paired link mechanism against proximal link hub An angle detection means for detecting the rotation angle of the proximal end link is provided, and an arithmetic means for defining the attitude of the distal link hub based on the rotation angle obtained by the angle detection means is provided. To do.
  • the angle detection means Only by detecting the rotation angle of the base end side end link with respect to the side link hub by the angle detection means, when the attitude of the front end side link hub is defined by the calculation means, the conventional complicated calculation such as convergence calculation and case classification No computation is required. Thus, since complicated calculation is not required, the calculation time can be shortened. Therefore, when the link operating device is applied to a precision medical device, the responsiveness of the link operating device can be improved. Further, since the angle detecting means only needs to be provided in the two sets of link mechanisms, the cost of the link operating device can be reduced and the size can be reduced.
  • the proximal end side link hub and the distal end side link hub connected to one end of the proximal end side end link and the distal end side end link are rotatably connected, the proximal end side end link, and the distal end side. It is desirable to add a configuration in which an angle formed by a connecting end axis of a central link in which the other end of the end link is rotatably connected is 90 °. If such a configuration is added, the connecting end axis of the base end side link hub and the front end side link hub and the connecting end axis of the center link are orthogonal to each other, so that the base end side end link and the front end side end link are manufactured. The workability at the time and the assemblability of the link mechanism are improved, and the calculation for detecting the posture of the distal end side link hub is further simplified.
  • the actuator includes an encoder that detects the rotation angle of the proximal end link relative to the proximal link hub.
  • two sets of link mechanisms in which the difference in the circumferential direction separation angle between the base end side end link of one link mechanism and the base end side end link of the other link mechanism is 180 °.
  • the angle detection means Just by detecting the rotation angle of the proximal end link relative to the proximal link hub by the angle detection means, when defining the attitude of the distal link hub by the computing means, the conventional convergence calculation and case classification Complicated calculations are not required.
  • the calculation time can be shortened. Therefore, when the link operating device is applied to a precision medical device, the responsiveness of the link operating device can be improved.
  • the angle detecting means only needs to be provided in the two sets of link mechanisms, the cost of the link operating device can be reduced and the size can be reduced. As a result, a high-speed link actuator that is compact and excellent in responsiveness can be easily realized.
  • FIG. 6 is a cross-sectional view showing the link actuating device of FIG. 5.
  • FIG. 1 is a front view showing a set of the link mechanism L 1 of the rotary encoder 12 is provided as an angle detecting means.
  • FIG. 2 is a cross-sectional view showing a link actuating device including three sets of link mechanisms L 1 to L 3 in which a rotary encoder 12 is provided in two sets of link mechanisms L 1 and L 3 .
  • FIG. 3 is a perspective view showing the overall configuration of the link operating device of FIG. In FIG. 3, the rotary encoder 12 is omitted.
  • the link actuating device of the embodiment shown in FIG. 1 to FIG. 3 is incorporated in precision equipment such as medical equipment and industrial equipment that requires a wide working range, and performs operations such as complex processing and article handling in a three-dimensional space.
  • precision equipment such as medical equipment and industrial equipment that requires a wide working range
  • operations such as complex processing and article handling in a three-dimensional space.
  • Each of the three sets of link mechanisms L 1 to L 3 has the same geometric shape.
  • a base end side link hub 1 that is attached to a fixing portion of a device in which the link actuating device is incorporated, for example, a base (not shown).
  • a distal end side link hub 2 to which a movable part of a device in which the link actuating device is incorporated, for example, a robot hand (not shown) is attached.
  • This link actuating device has a structure in which a distal end side link hub 2 is connected to a proximal end side link hub 1 via link mechanisms L 1 to L 3 so that the posture can be changed.
  • the link mechanisms L 1 to L 3 have one end rotatably connected to the base end side link hub 1 and one end rotatably connected to the base end side link hub 2.
  • the distal end side end link 4, the other end of the proximal end side end link 3 and the other end of the distal end side end link 4 are rotatably connected to each other. It has the following three-barrel structure. As described above, each of the link mechanisms L 1 to L 3 includes the two end links 3 and 4 and the one central link 5, and the proximal-side link hub 1 and the distal-side link hub 2 include three sets. Shared by the link mechanisms L 1 to L 3 .
  • the base end side and the tip end side are geometrically symmetrical with respect to the cross section at the center of the link mechanisms L 1 to L 3 .
  • the geometric shapes of the proximal end side and the distal end side are the same.
  • the proximal end side link hub 1 has a disk shape, and as shown in FIG. 2, one end of the proximal end side end link 3 is rotatably supported by support portions 6 provided at three locations in the circumferential direction. That is, by inserting the shaft portion 7 extending inward from one end of the base end side end link 3 into the support portion 6 via the bearing 8, the base end side end link 3 is made to the base end side link hub 1. It is supported rotatably.
  • the connection structure between the distal end side link hub 2 and one end of the distal end side end link 4 is the same, and the distal end side end link 4 is rotatably supported by the support portion 9 with respect to the distal end side link hub 2 ( (See FIG. 1).
  • the proximal end link 3 and the distal end link 4 are L-shaped, and one end rotates on the proximal link hub 1 and the distal link hub 2 with the support portions 6 and 9 as described above.
  • the other end is rotatably connected to the central link member 5.
  • the center link 5 is inserted into the other end of the base end side end link 3 and the front end side end link 4 via a bearing 11 so as to integrally extend from both ends of the central link 5, whereby the base end side end link 3 and the distal end side end link 4 are rotatably connected.
  • the coupling structure of the central link 5 to the proximal end link 3 and the distal end link 4 is as follows: the proximal link hub 1 (distal link hub 2) and the proximal end link 3 (distal end). This is the same as the coupling structure with the link 4).
  • the base end side end link 3 (front end side end link 4) is connected to one end of the base end side link hub 1 (front end side link hub 2) rotatably connected to one end of the base end side end link 3 and the base end side end link 3
  • the angle ⁇ formed by the connecting end axis of the central link 5 to which the other end of the (front end side end link 4) is rotatably connected, that is, the axis of the base end side end link 3 (front end side end link 4).
  • the angle ⁇ is 90 °.
  • the connecting end axis of the base end side link hub 1 (front end side link hub 2) and the connecting end axis of the central link 5 are orthogonal to each other, so that the base end side end link 3 and the front end side end link 4 are manufactured.
  • the workability at the time and the assemblability of the link mechanisms L 1 to L 3 are improved, and the calculation for detecting the attitude of the distal end side link hub 2 is further simplified as will be described later.
  • the axial angle of the base end side end part link 3 (front end side end part link 4) is 90 degrees, values other than that may be sufficient.
  • each of the link mechanisms L 1 to L 3 that is, two connecting portions of the proximal end side link hub 1 and the proximal end side end link 3 and the distal end side link hub 2 and the distal end side end link 4
  • the base end side end link 3 and the central link 5 and the front end side end link 4 and the central link 5 are connected to each other to have a bearing structure, thereby reducing frictional resistance at the connecting portion and reducing rotational resistance.
  • smooth power transmission can be ensured and durability can be improved.
  • the “separation angle ⁇ ” defines the circumferential position interval of each end link 3 with respect to the base end side end link 3 serving as a reference, and the base end side link hub of the base end side end link 3. 1 means an angle formed by each of the connecting end shafts. In this embodiment, it is based on the link mechanism L 1 of the proximal end link 3.
  • the difference ( ⁇ 2 ⁇ 1 ) between the separation angles ⁇ 1 and ⁇ 2 between the base end side end link 3 of the link mechanism L 1 and the base end side end link 3 of the link mechanism L 2 , that is, the link mechanism spaced angle [delta] 2 of the proximal end link 3 of L 2 is set to 90 °.
  • the rotation of the base end side end link 3 relative to the base end side link hub 1 is performed by two sets of link mechanisms L 1 and L 3 in which the difference ( ⁇ 3 ⁇ 1 ) between the separation angles ⁇ 1 and ⁇ 3 is 180 °.
  • a rotary encoder 12 is provided as angle detection means for detecting the angle.
  • a rotary encoder 12 is coaxially attached to the tip of a shaft portion 7 extending from the base end side end link 3 and protruding from the support portion 6 of the base end side link hub 1 via a coupling 13. Structure is adopted. By adopting such a structure, the rotation angle of the proximal end link 3 is directly detected by the rotary encoder 12.
  • the base end side link hub 1 and the front end side link hub 2 make disk shape
  • other shapes such as a ring shape
  • the rotary encoder 12 may be arranged outside the link mechanisms L 1 and L 3 in addition to the rotary encoder 12 inside the link mechanisms L 1 and L 3 as in this embodiment. Is also possible.
  • the rotary encoder 12 is employed as the angle detection means, but other sensors such as a distance measuring sensor and an inclination angle sensor can also be used.
  • FIG. 4 illustrates a link actuating device having six sets of link mechanisms L 1 to L 6 .
  • the basic configuration of the six sets of link mechanisms L 1 to L 6 is the same as that of the link mechanisms L 1 to L 3 of FIGS.
  • the base end side end link 3 of one link mechanism L 1 is used.
  • the rotation of the base end side end link 3 relative to the base end side link hub 1 is performed by two sets of link mechanisms L 1 and L 4 in which the difference ( ⁇ 4 ⁇ 1 ) between the separation angles ⁇ 1 and ⁇ 4 is 180 °.
  • a rotary encoder 12 for detecting a corner is provided. In this embodiment, the rotary encoder 12 is disposed outside the link mechanisms L 1 and L 4 .
  • FIGS. 5 and 6 illustrate a link actuating device including four sets of link mechanisms L 1 to L 4 .
  • the basic configuration of the four sets of link mechanisms L 1 to L 4 is the same as that of the link mechanisms L 1 to L 3 of FIGS.
  • a shaft portion 15 extending integrally from a support portion 14 provided at one central position of the base end side link hub 1 is inserted into one end of the base end side end portion link 3 via a bearing 16.
  • the base end side end links 3 of the link mechanisms L 1 to L 4 are commonly supported by the support portion 14 of the base end side link hub 1 so as to be rotatable.
  • the connection structure of the distal end side link hub 2 and the distal end side end link 4 is the same, and the distal end side end link 4 is rotatably supported by the support portion 17 with respect to the distal end side link hub 2.
  • the base end side end link 3 of one link mechanism L 1 is used for the two sets of link mechanisms L 1 and L 3 arbitrarily selected from the four sets of link mechanisms L 1 to L 4 .
  • the difference ( ⁇ 3 ⁇ 1 ) between the separation angles ⁇ 1 and ⁇ 3 between the second link mechanism L 3 and the base end side end link 3 is 180 °.
  • an encoder as a drive means for changing the attitude of the distal link hub 2 is provided.
  • An actuator 18 is provided.
  • the actuators 18 are provided in the two sets of link mechanisms L 1 and L 3.
  • the actuators are provided in the other link mechanisms L 2 and L 4 . 18 may be provided.
  • two sets of the difference between the separation angles ⁇ 1 and ⁇ 3 are 180 °.
  • An actuator may be provided in the link mechanisms L 1 and L 3 .
  • two sets of link mechanisms L in which the difference ( ⁇ 4 ⁇ 1 ) between the separation angles ⁇ 1 and ⁇ 4 is 180 °. 1 and L 4 may be provided with an actuator.
  • an actuator without an encoder may be provided.
  • a fan-shaped large gear member 19 is attached to the proximal end side end link 3, and a small gear is disposed in the vicinity of the large gear member 19.
  • the gear member 20 is disposed.
  • the small gear member 20 has a shaft shape, and both end portions thereof are supported on the proximal end side link hub by the support member 22 via the bearings 21.
  • the tooth portion formed on the outer periphery of the central portion of the small gear member 20 and the tooth portion formed on the end surface of the large gear member 19 are in mesh with each other.
  • An actuator 18 is coaxially connected to one shaft end of the small gear member 20 via a coupling 23.
  • the actuator 18 includes a speed reducer 24, a motor 25, and an encoder 26, and is fixed on the proximal end side link hub by a support member 27.
  • this actuator 18 includes an encoder 26 that controls the attitude of the distal end side link hub 2, the actuator 18 has not only a function of controlling the attitude of the distal end side link hub 2 but also the proximal end side link hub 1. Since it can be used together as an angle detecting means for detecting the rotation angle of the base end side end link 3, it is not necessary to provide the rotary encoder 12 on the base end side end link 3, and the link operating device can be made compact. . Further, if this encoder 26 is used, a direct teaching function for manually determining the posture of the distal end side link hub 2 can be exhibited.
  • the driving force of the actuator 18 is transmitted by a gear, but other than this, a belt or a chain may be used.
  • the actuator 18 may be directly driven by a cylinder.
  • the motor may be directly attached to the shaft portion 15 of the proximal end side link hub 1 by using a coupling or the like.
  • a linear actuator composed of a rack and a pinion can be used.
  • the geometric shapes of the proximal end link 3 and the distal end link 4 are the same on the proximal side and the distal side,
  • the shapes of the links 5 are the same on the proximal end side and the distal end side, the angular positional relationship between the central link 5 and the proximal end link 3 and the distal end link 4 with respect to the symmetry plane m of the central link 5.
  • the base end side and the front end side are the same, the base end side link hub 1 and the base end side end link 3 and the front end side link hub 2 and the front end side end link 4 are the same because of geometric symmetry. And the base end side and the tip end side rotate at the same rotational angle with the same rotation angle.
  • the symmetry plane m of the central link 5 during the constant speed rotation is referred to as a uniform speed bisector. Therefore, by arranging a plurality of identical linkage geometry L 1 ⁇ L 3 sharing the proximal link the hub 1 and the distal end side link hub 2 on the circumference, a plurality of link mechanisms L 1 ⁇ L 3
  • the center link 5 is limited to the movement on the uniform bisecting plane as a position where it can move without contradiction, and thereby, even if the base end side and the distal end side take any operating angle, constant speed rotation can be obtained.
  • the link actuating device including the three sets of link mechanisms L 1 to L 3 shown in the embodiment of FIGS. 1 to 3 will be described.
  • the six sets of link mechanisms L 1 to L 6 shown in the embodiment of FIG. The same applies to the link actuator provided with the link actuator and the link actuator provided with the four sets of link mechanisms L 1 to L 4 shown in the embodiment of FIGS.
  • the posture of the distal end side link hub 2 can be defined by two degrees of freedom (folding angle ⁇ and turning angle ⁇ ), and the posture of the distal end side link hub 2 (folding angle).
  • the relationship between ⁇ and the turning angle ⁇ ) and the rotation angle ⁇ of the proximal end link 3 detected by the rotary encoder 12 can be defined by the following equation.
  • the link actuating device includes a control unit 28 (see FIG. 1) as calculation means that can detect the attitude of the distal link hub 2 by conversion according to the following relational expression.
  • the rotary encoder 12 provided in the link mechanisms L 1 and L 3 is connected to the input of the controller 28, and the actuator (not shown) provided in the link mechanisms L 1 and L 3 is connected to the output of the controller 28. Connected).
  • the “bending angle ⁇ ” is a vertical angle in which the central axis of the distal end side link hub 2 is inclined with respect to the central axis of the proximal end side link hub 1
  • the “turning angle ⁇ ” is the proximal end side link. This means a horizontal angle in which the central axis of the distal link hub 2 is inclined with respect to the central axis of the hub 1.
  • “Rotation angle ⁇ ” means the rotation angle of the connecting end of the base end side end link 3 with respect to the base end side link hub 1 for the three sets of link mechanisms L 1 to L 3 .
  • “Conversion by relational expression” means that by inputting a target value that defines the rotation angle of the base end side end link 3 of the base end side link hub 1 into the relational expression, the distal end side link hub 2 with respect to the rotation angle input. Is obtained by calculation processing in the control unit 28.
  • the separation angle In the link mechanisms L 1 and L 3 in which the difference ( ⁇ 3 ⁇ 1 ) between ⁇ 1 and ⁇ 3 is 180 °, the attitude (folding angle ⁇ and turning angle ⁇ ) of the distal end side link hub 2 and the rotary encoder 12 The relational expression between the detected rotation angles ⁇ 1 and ⁇ 3 of the proximal end link 3 is as follows.
  • the “axial angle ⁇ of the central link 5” means that the connecting end shaft of the central link 5 to which the proximal end link 3 is rotatably connected and the distal end link 4 is rotatably connected. It means the angle formed by the connecting end axis of the central link 5.
  • the posture (fold angle ⁇ and turning angle ⁇ ) of the distal end side link hub 2 is uniquely determined from the rotation angles ⁇ 1 and ⁇ 3 of the proximal end link 3.
  • the link actuator having three sets of link mechanisms L 1 to L 3 has been described, but the same result can be obtained for a link actuator having three or more sets of link mechanisms. That is, if the difference ( ⁇ L ⁇ K ) between the separation angles ⁇ K and ⁇ L is 180 ° for the K and L th two sets of link mechanisms arbitrarily selected from the three or more sets of link mechanisms.
  • ⁇ 1 corresponds to ⁇ K and ⁇ 3 corresponds to ⁇ L , respectively, and the following equations (8) to (10) are obtained.
  • ⁇ 2cos ⁇ 1 (B) (8)
  • ⁇ sin ⁇ 1 [ ⁇ ⁇ Bsin ( ⁇ K ) + sin ( ⁇ / 2) ⁇ / ⁇ (1-B 2 ) cos ( ⁇ K ) ⁇ ] (9)
  • B -sin ( ⁇ / 2) [ ⁇ cos ( ⁇ K) + cos ( ⁇ L) ⁇ / ⁇ sin ( ⁇ K) cos ( ⁇ L) + sin ( ⁇ L) cos ( ⁇ K) ⁇ ] ⁇ ( 10)
  • the rotation angle of the proximal end link 3 with respect to the proximal link hub 1 is set to the rotary encoder 12.
  • the posture of the distal end side link hub 2 is defined by the calculation processing in the control unit 28, complicated calculations such as conventional convergence calculation and case classification are not required.
  • the calculation time can be shortened. Therefore, when the link operating device is applied to a precision medical device, the responsiveness of the link operating device can be improved.
  • the rotary encoder 12 only needs to be provided in the two sets of link mechanisms, the cost of the link operating device can be reduced and the size can be reduced.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

L'invention porte sur un dispositif d'actionnement de tringles, lequel dispositif a des mécanismes de tringle à chaîne à triple brisure (L1 – L3) comprenant quatre paires rotatives, ledit mécanisme (L1 – L3) étant constitué à partir d'un tringle d'extrémité côté extrémité proximale (3) qui est reliée rotative à une extrémité à un moyeu de tringle côté extrémité proximale (1), un tringle d'extrémité côté extrémité distale qui est reliée rotative à une extrémité à un moyeu de tringle côté extrémité distale, et un tringle central (5), qui est reliée rotative à l'autre extrémité du tringle d'extrémité côté extrémité proximale (3) et à l'autre extrémité du tringle d'extrémité côté extrémité distale ; le moyeu de tringle côté extrémité distale est relié au moyeu de tringle côté extrémité proximale (1) par l'intermédiaire des mécanismes de tringle (L1 - L3) d'une manière permettant de changer l'orientation ; la différence d'angle de séparation périphérique (δ3 – δ1) du tringle d'extrémité côté extrémité proximale (3) du mécanisme de tringle (L1) et du tringle d'extrémité côté extrémité proximale (3) du mécanisme de tringle (L3) est de 180°, cet ensemble de deux mécanismes de tringle (L1, L3) comportant des codeurs rotatifs (12) pour détecter l'angle de rotation des tringles d'extrémité côté extrémité proximale (3), et un dispositif de commande (28) pour définir la rotation des moyeux de tringle côté extrémité distale sur la base de l'angle de rotation obtenu par le codeur rotatif (12).
PCT/JP2015/073418 2014-09-01 2015-08-20 Dispositif d'actionnement de tringles Ceased WO2016035564A1 (fr)

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JP2014177029A JP6342265B2 (ja) 2014-09-01 2014-09-01 リンク作動装置

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
JP2017061004A (ja) * 2015-09-24 2017-03-30 Ntn株式会社 組合せ型リンク作動装置
WO2022065244A1 (fr) * 2020-09-23 2022-03-31 Ntn株式会社 Mécanisme de liaison parallèle et dispositif d'actionnement de liaison

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6498738B1 (ja) * 2017-09-26 2019-04-10 Ntn株式会社 リンク作動装置
JP2025147591A (ja) * 2024-03-25 2025-10-07 Ntn株式会社 リンク作動装置

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JPS6427881A (en) * 1987-07-22 1989-01-30 Hitachi Ltd Pitch shaft mechanism of manipulator
JP2001088072A (ja) * 1999-09-17 2001-04-03 Toyoda Mach Works Ltd 四自由度パラレルロボット
JP2001121460A (ja) * 1999-10-25 2001-05-08 Kansai Tlo Kk ロボット用パラレルリンク機構
JP2005144627A (ja) * 2003-11-18 2005-06-09 Ntn Corp リンク作動装置

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Publication number Priority date Publication date Assignee Title
JPS6427881A (en) * 1987-07-22 1989-01-30 Hitachi Ltd Pitch shaft mechanism of manipulator
JP2001088072A (ja) * 1999-09-17 2001-04-03 Toyoda Mach Works Ltd 四自由度パラレルロボット
JP2001121460A (ja) * 1999-10-25 2001-05-08 Kansai Tlo Kk ロボット用パラレルリンク機構
JP2005144627A (ja) * 2003-11-18 2005-06-09 Ntn Corp リンク作動装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017061004A (ja) * 2015-09-24 2017-03-30 Ntn株式会社 組合せ型リンク作動装置
WO2017051839A1 (fr) * 2015-09-24 2017-03-30 Ntn株式会社 Dispositif d'actionnement à biellette de type combiné
US10391641B2 (en) 2015-09-24 2019-08-27 Ntn Corporation Combination type link actuation device
WO2022065244A1 (fr) * 2020-09-23 2022-03-31 Ntn株式会社 Mécanisme de liaison parallèle et dispositif d'actionnement de liaison
JP2022052378A (ja) * 2020-09-23 2022-04-04 Ntn株式会社 パラレルリンク機構およびリンク作動装置
JP7438908B2 (ja) 2020-09-23 2024-02-27 Ntn株式会社 パラレルリンク機構およびリンク作動装置

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