The present invention relates to a device for transferring a continuous rotary motion, characterized in that said device comprises one crankshaft unit (4, 14) at each of the two ends thereof, said units each comprising one crankshaft (5, 15) having at least three crank offsets (1, 2, 3, 11, 12, 13) distributed uniformly about the axis of the corresponding crankshaft (5, 15) with respect to the angular range from 0 to 360, wherein the crankpins of opposing crank offsets (1, 11, 2, 12, 3, 13) of the crankshafts (5, 15) of the two crankshaft units (4, 14) are connected to each other by a rope or cable (8, 9, 10), and to the use of such a device for transferring a rotary motion in a bicycle or in a wind power plant.

An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.

An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.

Disclosed is a mechanical amplifier device and mechanism thereof. The mechanical amplifier device comprises an input shaft, a housing and an output shaft. The input shaft receives an initial force as an input which is provided to a first wheel, thus enabling synchronous rotation of the first wheel. A lever is configured to receive the initial force from the first wheel, while the lever is attached to an outer edge of the first wheel, enabling rotation of the lever to amplify the initial force. The lever passes through a center of a fulcrum and attaches to an outer edge of a second wheel to provide the amplified initial force to the second wheel, which causes rotation of the second wheel. The output shaft then rotates synchronously upon receiving the amplified initial force from the second wheel and provides the amplified initial force to an external machine such as a bicycle.

Disclosed is a mechanical amplifier device and mechanism thereof. The mechanical amplifier device comprises an input shaft, a housing and an output shaft. The input shaft receives an initial force as an input which is provided to a first wheel, thus enabling synchronous rotation of the first wheel. A lever is configured to receive the initial force from the first wheel, while the lever is attached to an outer edge of the first wheel, enabling rotation of the lever to amplify the initial force. The lever passes through a center of a fulcrum and attaches to an outer edge of a second wheel to provide the amplified initial force to the second wheel, which causes rotation of the second wheel. The output shaft then rotates synchronously upon receiving the amplified initial force from the second wheel and provides the amplified initial force to an external machine such as a bicycle.

A distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms. Each link mechanism has a proximal side end link member, a distal side end link member, and an intermediate link member. The proximal side end link member has a bent portion and rotation shaft mounting portions. A rotation shaft is mounted to the rotation shaft mounting portion. A bevel gear, forming a part of a gear mechanism for transmitting rotary motion of a posture control actuator to the proximal side end link member, is mounted on the rotation shaft mounting portion and disposed in a space between two virtual planes obtained by extending a radially inner edge and a radially outer edge of one end of the bent portion in a longitudinal direction of the rotation shaft mounting portion.

A distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms. Each link mechanism has a proximal side end link member, a distal side end link member, and an intermediate link member. The proximal side end link member has a bent portion and rotation shaft mounting portions. A rotation shaft is mounted to the rotation shaft mounting portion. A bevel gear, forming a part of a gear mechanism for transmitting rotary motion of a posture control actuator to the proximal side end link member, is mounted on the rotation shaft mounting portion and disposed in a space between two virtual planes obtained by extending a radially inner edge and a radially outer edge of one end of the bent portion in a longitudinal direction of the rotation shaft mounting portion.

A work apparatus includes a parallel link mechanism, a position control actuator, a linear motion mechanism, and a rotating mechanism. The parallel link mechanism includes three or more link mechanisms that couple a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub. The position control actuator operates the parallel link mechanism. The linear motion mechanism moves a working body in an axial direction orthogonal to a central axis of the proximal end side link hub. The rotating mechanism is mounted on the distal end side link hub and rotates a work object about a rotation center axis parallel to a movement direction of the linear motion mechanism when the central axis and a central axis are on the same line.

A work apparatus includes a parallel link mechanism, a position control actuator, a linear motion mechanism, and a rotating mechanism. The parallel link mechanism includes three or more link mechanisms that couple a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub. The position control actuator operates the parallel link mechanism. The linear motion mechanism moves a working body in an axial direction orthogonal to a central axis of the proximal end side link hub. The rotating mechanism is mounted on the distal end side link hub and rotates a work object about a rotation center axis parallel to a movement direction of the linear motion mechanism when the central axis and a central axis are on the same line.

An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.