A link actuation apparatus that actuates a parallel link mechanism where a spherical drive mechanism is constructed includes a controller configured to calculate, based on spherical trigonometry, an attitude of a second link hub from angles β.sub.A1 and β.sub.A2 that represent the attitude of a first end link member with respect to a first link hub in two of at least three link mechanisms. The link actuation apparatus capable of performing forward transformation in real time is thus provided.

A link actuation apparatus that actuates a parallel link mechanism where a spherical drive mechanism is constructed includes a controller configured to calculate, based on spherical trigonometry, an attitude of a second link hub from angles β.sub.A1 and β.sub.A2 that represent the attitude of a first end link member with respect to a first link hub in two of at least three link mechanisms. The link actuation apparatus capable of performing forward transformation in real time is thus provided.

A three-degree-of-freedom parallel mechanism, includes a fixed platform, a movable platform, and three kinematic chains, where at least one of the three kinematic chains is a flexible chain; and the flexible chain includes a first connecting rod, a second connecting rod, and an axis-variable revolute pair, the axis-variable revolute pair includes a fixed member, a movable member, and a spherical pair, one end of the fixed member is fastened on the fixed platform, the other end of the fixed member fits and abuts against an inclined surface of the movable member, the spherical pair is accommodated in the fixed member, a spherical hinge connecting rod of the spherical pair penetrates the movable member, the first connecting rod is rotatably connected to the spherical hinge connecting rod and the second connecting rod, and the second connecting rod is spherically hinged to the movable platform.

A parallel link mechanism includes a proximal end member and three or more link mechanisms. Three or more link mechanisms connect the proximal end member to a distal end member. In three or more link mechanisms, a first center axis of a first revolute pair unit and a second center axis of a second revolute pair unit intersect at a spherical link center point. Fifth center axes of respective fifth revolute pair units of three or more link mechanisms overlap each other and intersect with the spherical link center point.

A parallel link mechanism includes a proximal end member and three or more link mechanisms. Three or more link mechanisms connect the proximal end member to a distal end member. In three or more link mechanisms, a first center axis of a first revolute pair unit and a second center axis of a second revolute pair unit intersect at a spherical link center point. Fifth center axes of respective fifth revolute pair units of three or more link mechanisms overlap each other and intersect with the spherical link center point.

A parallel link mechanism includes a proximal end-side link hub, three link mechanisms, a rotating body, and a distal end-side link hub. The rotating body is connected to one link mechanism among the three link mechanisms. The rotating body is rotatably coupled to the proximal end-side link hub. In the link mechanism, a first center axis of a first revolute pair portion intersects with a second center axis of a second revolute pair portion at a spherical link center point. The rotation center axis of the rotating body intersects with the spherical link center point.

A parallel link mechanism includes a proximal end-side link hub, three link mechanisms, a rotating body, and a distal end-side link hub. The rotating body is connected to one link mechanism among the three link mechanisms. The rotating body is rotatably coupled to the proximal end-side link hub. In the link mechanism, a first center axis of a first revolute pair portion intersects with a second center axis of a second revolute pair portion at a spherical link center point. The rotation center axis of the rotating body intersects with the spherical link center point.

A pivot drive (1) having a base (10), an output element (12) which is mounted to the base (10) in a manner so as to be rotatable around an axis of rotation and pivotable around two or more pivot axes, the two or more pivot axes intersecting each other at a point of intersection which is arranged on the axis of rotation, and having a rotation actuator (30) and two or more pivot actuators (42, 44), the rotation actuator (30) and the pivot actuators (42, 44) being mounted in a stationary manner with respect to the base (10).

An apparatus and method for lifting and collapsing a collapsible cargo container includes a frame, and vertical guides for aligning the actuator with the cargo container. First and second pusher assemblies engage the end walls of the container to pivot the end walls against the ceiling of the container, where uplocks retain the end walls in a stowed away position. Foldable side walls are then buckled by the weight of the ceiling with assistance from the actuator, until the side walls occupy a predominantly horizontal position between the ceiling/end wall combination and a floor of the cargo container, resulting in a compact configuration. The actuator unfolds the container using steps discussed above in a reverse order.

An apparatus and method for lifting and collapsing a collapsible cargo container includes a frame, and vertical guides for aligning the actuator with the cargo container. First and second pusher assemblies engage the end walls of the container to pivot the end walls against the ceiling of the container, where uplocks retain the end walls in a stowed away position. Foldable side walls are then buckled by the weight of the ceiling with assistance from the actuator, until the side walls occupy a predominantly horizontal position between the ceiling/end wall combination and a floor of the cargo container, resulting in a compact configuration. The actuator unfolds the container using steps discussed above in a reverse order.