Ntn Corporation

Kyushu Institute of Technology

Toshiki Takaki

Hirofumi Fukumaru

Akihiro Hayashi

In a parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub. Each link mechanism includes a proximal side end link member rotatably coupled at one end thereof to the proximal end side link hub, a distal side end link member rotatably coupled at one end thereof to the distal end side link hub, and a center link member rotatably coupled at both ends thereof to other ends of the proximal and distal side end link members via both revolute pair sections. The parallel link mechanism includes a rotation transmission mechanism configured to allow rotation of one revolute pair section to rotate the other revolute pair section in reverse.

Parallel link mechanism and link operation device

A link actuation device includes a proximal link hub, a distal link hub, link mechanisms that couple the link hubs, an actuator, and a control device. The actuator includes motors provided for link mechanisms, respectively. The control device stores a map in which drive command values for each of the motors corresponding to a plurality of discrete positions within a movable range of the distal link hub are stored. Upon receipt of a command value for movement to a position that coincides with none of the plurality of positions within the movable range, the control device determines a drive command value for each of the motors by interpolating a region surrounded by four points at the plurality of positions on the map using a polynomial curved surface formula.

Growing community of inventors

Iwata, Japan

Toshiki Takaki