A five-degree-of-freedom parallel mechanism and a series-parallel multi-degree-of-freedom equipment having the parallel mechanism are disclosed, and can machine complex components and parts as well as large structural parts and implement multi-degree-of-freedom numerical control machining, such as offsite maintenance of large equipment. The parallel mechanism includes: a rack; a movable platform; a first chain connected with the rack by at least two revolute pairs with axes intersecting with each other perpendicularly, and connected with the movable platform by at least two revolute pairs with axes intersecting with one another perpendicularly; a second chain having the same structure as the first chain; and a third chain including a main branch chain and two auxiliary branch chains, wherein the first chain, the second chain, and the third chain are separately connected between the rack and the movable platform.

A flexible drive manipulator according to an example embodiment may include a proximal portion, a plurality of joint portions drivably connected from an end of the proximal portion with respect to a longitudinal axis, a distal portion connected to an end of the plurality of joint portions, a pair of drive wires passing through the plurality of joint portions in parallel along the longitudinal axis, the pair of drive wires configured to drive the plurality of joint portions in a rotational direction of rotation with respect to a transverse axis perpendicular to the longitudinal axis, and a fixing wire passing through the plurality of joint portions in a shape of converging along the longitudinal axis, the fixing wire configured to adjust rigidity of the plurality of joint portions.

An embodiment joint structure for a robot includes an upper plate provided in an upper region, a link part coupled to a lower surface of the upper plate, wherein the link part includes a first link and a second link, and wherein the first link and the second link are provided close to one side of the upper plate with respect to a center of the lower surface of the upper plate, a support part coupled to the lower surface of the upper plate and configured to support the upper plate, wherein the support part is provided to be closer to the center of the lower surface of the upper plate than is the link part, and a motor part configured to provide power to the support part and the link part.

In a link actuation device, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and a posture of the distal end side link hub relative to the proximal end side link hub is arbitrarily changed by actuators provided to two or more link mechanisms. The manipulating device includes a posture acquirer for acquiring a distal end posture represented by a bending angle and a turning angle, from a coordinate position at which a distal end side spherical link center is projected onto a two-dimensional rectangular coordinate system that has an origin located on an extension of an axis of the proximal end side link hub and is orthogonal to the extension of the axis.

Provided is a fixed point mechanism. In the fixed point mechanism, when a drive torque acts on a first connecting rod member (100) or a slide block device (110), the fixed point mechanism can realize a rotation movement around a fixed point; when a drive torque acts on a fourth connecting rod member (103) or a sixth connecting rod member (105), the fixed point mechanism can realize a telescopic movement relative to the fixed point; and when a drive torque acts on the first connecting rod member (100) or the slide block device (110), and another drive torque acts on the fourth connecting rod member (103) or the sixth connecting rod member (105), the fixed point mechanism can realize a rotation movement around the fixed point and a telescopic movement relative to the fixed point. That is, the fixed point mechanism has two degrees of freedom of the rotation movement around the fixed point and the telescopic movement relative to the fixed point.

A surgical system includes a motor, a first link movable by operation of the motor, a plurality of non-driven, revolute joints coupled to the first link such that the first link separates the plurality of revolute joints from the motor, and an end effector coupled to the first link via the plurality of non-driven, revolute joints.

A parallel mechanism comprises legs with kinematically redundant actuation for a parallel mechanism. Each of these legs comprises a first sub-leg and a second sub-leg each with a proximal end and a distal end. A link has a proximal end and a distal end. A joint with a rotational degree of freedom (DOF) is between and common to the distal ends of the sub-legs, and the proximal end of the link. A joint provides two or more rotational DOFs at the distal end of the link and connects the distal end of the link to one end of the parallel mechanism. Joints in the sub-legs provide DOFs to the sub-legs and connect the proximal ends of the sub-legs to the other end of the parallel mechanism. A degree of actuation (DOA) is provided for each of the sub-legs to control movement of the link.

A parallel link robot includes: a base portion; a movable portion; link portions coupling the base and movable portions; and actuators attached to the base portion and driving the respective link portions. Each of the link portions includes drive links swung around axes by the respective actuators, and two each of the passive links parallel to each other and swingably arranged between the drive link and the each of the movable portions. The robot includes a drive unit disposed parallel to the two passive links of at least one of the link portions and between the passive links and drives a mechanical unit attached to the movable portion. The drive unit is attached to the drive link with a joint, swingably coupling the drive unit to the drive link around at least mutually intersecting axes, on a straight-line coupling swinging center points of the passive links and the drive link.

A surgical system includes a motor, a first link movable by operation of the motor, a plurality of non-driven, revolute joints coupled to the first link such that the first link separates the plurality of revolute joints from the motor, and an end effector coupled to the first link via the plurality of non-driven, revolute joints.

Disclosed is a robot joint device comprising first and second plates positioned in parallel with each other, links each having a first end connected to the first plate and a second end connected to the second plate, connecting members configured to connect the two ends of each of the links and the first and second plates, respectively, so that angles and rotations of the links are adjustable relative to the first and second plates, a rotary shaft having two ends penetrating the first and second plates and rotatably installed, a gear reduction unit installed in the first plate and connected to the first end of the rotary shaft, a pulley connected to the second end of the rotary shaft and configured to transmit driving power to the rotary shaft, and a drive unit configured to transmit the driving power to the pulley.