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US 11,230,018 B2Granted
Parallel link device, industrial robot, and haptic presentation device
AssigneeSony Corporation
InventorKazuo Hongo
Life of this patent
Estimating the term…
Abstract
There is provided a parallel link device including a base, a plurality of arms each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint, and a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, where an axis of rotation (O7) of the rotating joint, which is coupled to the support and the second arm link, intersects or is adjacent to a rotational central point (Q) of the support.
Claims17
A parallel link device comprising:
- a base;
- a plurality of arms each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint;
- and
- a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, wherein
- an axis of rotation (O7) of the rotating joint, which is coupled to the support and the second arm link, intersects or is adjacent to a rotational central point of the support,
- the plurality of the arms includes three arms,
- first couplings between the second arm links of the respective three arms and the support are disposed around the rotational central point (Q) of the support every 120 degrees, and
- second couplings between the first arm links of the respective three arms and the base are unevenly located around a rotational central point of the base within a predetermined range, or
- second couplings between the first arm links of the respective three arms and the base are disposed around the rotational central point of the base every 60 degrees.
6 more elements
An industrial robot comprising:
- a parallel link device including
- a base;
- a plurality of arms each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint;
- and
- a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, wherein
- an axis of rotation (O7) of the rotating joint, which is coupled to the support and the second arm link, intersects or is adjacent to a rotational central point (Q) of the support, and
- the plurality of the arms includes three arms,
- first couplings between the second arm links of the respective three arms and the support are disposed around the rotational central point (Q) of the support every 120 degrees, and
- second couplings between the first arm links of the respective three arms and the base are unevenly located around a rotational central point of the base within a predetermined range, or
- second couplings between the first arm links of the respective three arms and the base are disposed around the rotational central point of the base every 60 degrees.
7 more elements
A haptic presentation device comprising:
- a parallel link device including
- a base;
- a plurality of arms each having at least four degrees of freedom and each including a first arm link, a second arm link, and a rotating joint;
- and
- a support which is coupled to an end of the second arm link of each of the plurality of the arms, and a position and a posture of which changes along with changes of posture of the plurality of the arms, wherein
- an axis of rotation (O7) of the rotating joint that is coupled to the support and the second arm link intersects or is adjacent to a rotational central point (Q) of the support, and
- the plurality of the arms includes three arms,
- first couplings between the second arm links of the respective three arms and the support are disposed around the rotational central point (Q) of the support every 120 degrees, and
- second couplings between the first arm links of the respective three arms and the base are unevenly located around a rotational central point of the base within a predetermined range, or
- second couplings between the first arm links of the respective three arms and the base are disposed around the rotational central point of the base every 60 degrees.
7 more elements
Dependencies are inferred from the claim text.