Link actuating device

A link actuating device comprising:

• a proximal end side link hub;
• a distal end side link hub;
• three or more link mechanisms which couples the distal end side link hub with 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;
• and
• a posture control actuator configured to arbitrarily change the posture of the distal end side link hub relative to the proximal end side link hub, the posture control actuator being provided to each of two or more link mechanisms of the three or more link mechanisms, wherein
• each of the link mechanisms includes:
• a proximal side end link member having one end rotatably coupled to the proximal end side link hub;
• a distal side end link member having one end rotatably coupled to the distal end side link hub;
• and an intermediate link member having opposite ends rotatably coupled to other ends of the proximal side and distal side end link members, respectively,
• the proximal side end link member has a bent portion and a rotation shaft mounting portion that is fixed to one end of the bent portion and to which a rotation shaft located at an axis of a revolute pair between the proximal end side link hub and the proximal side end link member is mounted, and
• at least a part of a gear mechanism configured to transmit rotary motion by the 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 the one end of the bent portion in a longitudinal direction of the rotation shaft mounting portion.