Operation device for link actuating device

An operation device configured to operate a link actuating device,

• the link actuating device including:
• a proximal end side link hub;
• a distal end side link hub;
• and
• three or more link mechanisms which each connect the distal end side link hub to the proximal end side link hub such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, wherein
• each of the link mechanisms includes:
• a proximal side end link member having one end rotatably connected to the proximal end side link hub;
• a distal side end link member having one end connected to the distal end side link hub;
• and an intermediate link member having opposed ends thereof being rotatably connected to other ends of the proximal side end link member and the distal side end link member, respectively,
• each of the link mechanisms has such a shape that a geometric model of the link mechanism represented by straight lines shows symmetry between a proximal end side portion thereof and a distal end side portion thereof with respect to a center portion of the intermediate link member,
• two or more link mechanisms among the three or more link mechanisms are each provided with an actuator which changes a distal end posture that is the posture of the distal end side link hub relative to the proximal end side link hub,
• the link actuating device being provided with a control device configured to control the actuators, and
• the operation device being configured to input, through a human-induced operation, a target value to which the distal end posture is changed,
• the operation device comprising:
• a target value input unit having a height direction target value input portion configured to allow input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture to be changed only in the height direction along a central axis of the proximal end side link hub;
• and
• an input converter configured to calculate the distal end posture of the link actuating device by using a value inputted from the target value input unit, calculate a command operation amount of each actuator from a result of the calculation, and input the command operation amount to the control device, which distal end posture is represented by a bend angle and an angle of swing, the bend angle being a vertical angle formed when a central axis of the distal end side link hub is inclined relative to the central axis of the proximal end side link hub, the angle of swing being a horizontal angle formed when the central axis of the distal end side link hub is inclined relative to the central axis of the proximal end side link hub.