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.

This link actuation device includes: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each couple the distal end side link hub to the proximal end side link hub. Each link mechanism includes: proximal side and distal side end link members, and an intermediate link member. The link mechanism is provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub. A workpiece is disposed on the proximal end side link hub, and an end effector is disposed in the distal end side link hub so as to face inside of arrangement of the link hubs and perform work onto the workpiece.

This link actuation device includes: a proximal end side link hub; a distal end side link hub; and three or more link mechanisms which each couple the distal end side link hub to the proximal end side link hub. Each link mechanism includes: proximal side and distal side end link members, and an intermediate link member. The link mechanism is provided with an actuator which arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub. A workpiece is disposed on the proximal end side link hub, and an end effector is disposed in the distal end side link hub so as to face inside of arrangement of the link hubs and perform work onto the workpiece.

A parallel link robot (10) including ball joints (42a to 42d) which are arranged between driven links (22a, 23a) and a drive link (21a) and between a driven link and a movable part (12), at least one of these ball joints including a ball (44a) and a housing (42a) which covers at least half of the surface of the ball including the maximum diameter part and further including with a covering part (45a) which covers the area around the ball of the ball joint.

The present invention provides a four-chain six-degree-of-freedom hybrid mechanism. The four-chain six-degree-of-freedom hybrid mechanism comprises a fixed platform, a sliding rail mounted on the fixed platform, two sliding blocks, a mobile platform and four linear actuator chains connecting the mobile platform with a first sliding block and a second sliding block. The mobile platform is square-shaped. In the four linear actuator chains, the first linear actuator chain and the third linear actuator chain have the same structure while the second linear actuator chain and the fourth linear actuator chain have the same structure. The mobile platform can achieve six degrees of freedom. The four linear actuator chains coordinate to drive so as to achieve two translational degrees of freedom and two rotational degrees of freedom; the first sliding block and the second sliding block coordinate to drive so as to achieve the other translational and rotational degrees of freedom.

The present invention provides a four-chain six-degree-of-freedom hybrid mechanism. The four-chain six-degree-of-freedom hybrid mechanism comprises a fixed platform, a sliding rail mounted on the fixed platform, two sliding blocks, a mobile platform and four linear actuator chains connecting the mobile platform with a first sliding block and a second sliding block. The mobile platform is square-shaped. In the four linear actuator chains, the first linear actuator chain and the third linear actuator chain have the same structure while the second linear actuator chain and the fourth linear actuator chain have the same structure. The mobile platform can achieve six degrees of freedom. The four linear actuator chains coordinate to drive so as to achieve two translational degrees of freedom and two rotational degrees of freedom; the first sliding block and the second sliding block coordinate to drive so as to achieve the other translational and rotational degrees of freedom.

A driving mechanism including a first rod (103a), a second rod (104a), a first planar motor (106) moving on a plane, a center planar motor (105) moving on the plane and a moving portion (101), in which one end of the first rod is rotatably connected to the moving portion by a first rotation fulcrum (125a), the other end of the first rod is rotatably connected to the first planar motor by a second rotation fulcrum (126a), one end of the second rod is rotatably connected by a third rotation fulcrum (128a) provided on the first rod. The other end of the second rod is rotatably connected to the center planar motor by a fourth rotation fulcrum (127a), and the moving portion is moved so as to recede from the center planar motor when the first planar motor is moved near to the center planar motor.

A driving mechanism including a first rod (103a), a second rod (104a), a first planar motor (106) moving on a plane, a center planar motor (105) moving on the plane and a moving portion (101), in which one end of the first rod is rotatably connected to the moving portion by a first rotation fulcrum (125a), the other end of the first rod is rotatably connected to the first planar motor by a second rotation fulcrum (126a), one end of the second rod is rotatably connected by a third rotation fulcrum (128a) provided on the first rod. The other end of the second rod is rotatably connected to the center planar motor by a fourth rotation fulcrum (127a), and the moving portion is moved so as to recede from the center planar motor when the first planar motor is moved near to the center planar motor.

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).