Working device using parallel link mechanism

A working device using a parallel link mechanism, the working device being configured to perform a work on a workpiece with use of end effectors,

• the working device comprising:
• a parallel link mechanism by which the end effectors are supported so as to be changeable in posture;
• and
• posture-controlling actuators configured to actuate the parallel link mechanism, wherein
• the parallel link mechanism includes:
• a proximal-end-side link hub;
• a distal-end-side link hub;
• and
• three or more link mechanisms which are disposed between the proximal-end-side link hub and the distal-end-side link hub, and by which the distal-end-side link hub is connected to the proximal-end-side link hub so that the posture of the distal-end-side link hub relative to the proximal-end-side link hub can be changed,
• each link mechanism 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 rotatably connected to the distal-end-side link hub;
• and
• a center link member having opposite ends rotatably connected to other ends of the proximal-side and distal-side end link members, respectively,
• the posture-controlling actuators are provided to two or more link mechanisms among the three or more link mechanisms, the posture-controlling actuators being configured to arbitrarily change the posture of the distal-end-side link hub relative to the proximal-end-side link hub,
• the end effectors are mounted to the distal-end-side link hub and include one main end effector configured to perform a main work on the workpiece and one or a plurality of sub end effectors configured to perform an auxiliary work on the workpiece, and
• switching between a state where a work is performed by the main end effector and a state where a work is performed by the one or a plurality of sub end effectors,
• wherein when the main end effector performs the work on the workpiece, an axis of a distal end of the main end effector is located at a non-perpendicular angle to a central vertical axis of the workpiece and at a non-perpendicular angle to an axis of a distal end of the one or a plurality of sub end effectors.