A mechanism is constructed by twelve-axis geometry and controlled by spherical coordinate, so that all torques in twelve axes can be parallelly integrated. Timing belts, pulleys, hollow shafts, and spur gears onto four arc-link sets are included. Via these transmission components, base arc-links can be indirectly but synchronously rotated by base driving modules and terminal arc-links can be indirectly but synchronously rotated by terminal driving modules. The final output torque can be integrated via serial linking and parallel cooperating by the twelve rotating modules. Therefore, four arc-link sets work cooperatively and effectively in group but bear no burden each other. The mechanism can be applied to a multi-axis composite machining center machine or a multi-time element detection measuring bed and shoulder joints or hip joints corresponding to robots.

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 command generator includes: an area division unit configured to divide a line on a flat work surface of a target workpiece W into a straight area and a corner area, using a sharp boundary surface; a straight area operation command generation unit configured to generate a command for operating only the linear motion mechanism while keeping the posture of the parallel link mechanism fixed, in the straight area; and a corner area operation command generation unit configured to generate a command so that an acting point of the end effector passes on the boundary surface at a substantially constant speed by the linear motion mechanism and the parallel link mechanism performing coordinated operations in the corner area.

A rotational joint of intra-extra rotation for assistance of the movement of intra-extra rotation of a shoulder of a user. The rotational joint features a first circular guide arranged to rotate about a first rotation axis and a second circular guide arranged to rotate about a second rotation axis that is parallel to the first rotation axis. A support element is arranged to support the first and the second circular guides. The first and the second circular guide are pivotally connected by a conical wheel having a third rotation axis perpendicular to the first rotation axes and said conical wheel being pivotally constrained to the support element.

An operation device for a link actuating device (51) is provided with a target value input unit (57) having a height direction target value input portion (57z) 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 (51) to be changed only in the height direction along a central axis of a proximal end side link hub (12). Input converter (58) is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device (51). The Input converter (58) further calculates a command operation amount of each actuator (53) from the result of the calculation, and inputs the command operation amount to the control device (54).

A robotic dolly transfer system configured to transport dollies includes a full dolly transfer system and an empty dolly transfer system. The full dolly transfer system and the empty dolly transfer system individually include a rail assembly and a carriage. The carriage is slidably attached to the rail assembly and includes a bottom surface that has a post extending outwardly. The rail assembly includes a rail actuator assembly having an actuator and a receiver attached to the actuator. The receiver includes an opening that receives the post such that the post floats within the opening to permit the carriage to move a predetermined amount independent from the receiver. The actuator is configured to displace the receiver such that receiver contacts the post to slide the carriage with respect to the rail assembly. A end effector is pivotally connected to a transfer arm assembly and is configured to engage the dolly.

In this parallel link mechanism, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms such that the posture of the distal end side link hub can be altered relative to the proximal end side link hub. Each link mechanism includes proximal side and distal side end link members and an intermediate link member. Each end link member includes: a curved member curved by an arbitrary angle; and a rotation shaft support member fixed to one end of or each of opposite ends of the curved member, and configured to support a rotation shaft rotatably coupled directly or via a bearing to the intermediate link member or the link hub.

A combination link actuation device has two link actuation devices combined with each other. Each link actuation device is provided so as to connect a distal end side link hub to a proximal end side link hub such that an orientation of the distal end side link hub is changed relative to the proximal end side link hub through three link mechanisms aligned in a circumferential direction. An orientation controlling actuator is provided in two or more link mechanisms among the three link mechanisms to optionally change an orientation of the distal end side link hub relative to the proximal end side link hub. At least one circumferential separation angle among separation angles of the three link mechanisms is greater than 120. The two link actuation devices are disposed such that portions, of the link mechanisms, where the separation angle is greater than 120 oppose each other.

A working device includes: a linear motion unit having three degrees of freedom and obtained by combining three linear motion actuators; and a rotary unit having three degrees of freedom and obtained by combining a plurality of rotating mechanisms each having one or more rotational degrees of freedom. The linear motion unit is mounted on a mount such that a base portion of the linear motion unit is fixed to the mount. A base portion of the rotary unit is fixedly mounted on an output portion of the linear motion unit. End effectors are mounted on both the output portion of the linear motion unit and an output portion of the rotary unit.

A working device has a configuration with seven degrees of freedom, and is configured to perform work using an end effector. The working device includes: a linear motion unit having three degrees of freedom; a rotary unit having three degrees of freedom; and a rotary drive mechanism having one degree of freedom. The rotary drive mechanism is configured to rotate the rotary unit relative to the linear motion unit. The linear motion unit is mounted on a mount such that a base portion thereof is fixed to the mount. The rotary drive mechanism is mounted on an output portion of the linear motion unit. The rotary unit is mounted on an output portion of the rotary drive mechanism. The end effector is mounted on an output portion of the rotary unit.