The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 23, 2024
Filed:
Mar. 17, 2021
Ntn Corporation, Osaka, JP;
Kenzou Nose, Iwata, JP;
Hiroshi Isobe, Iwata, JP;
NTN CORPORATION, Osaka, JP;
Abstract
A link actuation apparatus includes: a parallel link mechanism including a proximal-side link hub, a distal-side link hub, and three or more link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed relative to the proximal-side link hub; posture control drive sources; and a control device. The control device includes an abnormality detector including: a measurement section configured to measure a predetermined state value which is affected by abnormality in revolute pair parts of a link actuation apparatus body constituted by the parallel link mechanism and the posture control drive sources; and a determination section configured to determine if any of the revolute pair parts has abnormality in on the basis of a measurement result obtained by the measurement section. For example, the measurement section measures rigidity, or driving torque or the like.