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US 11,691,276 B2Granted
Link actuation apparatus
AssigneesKyushu Institute of Technology, Ntn Corporation
InventorsAkihiro Hayashi, Hirofumi Fukumaru, Toshiki Takagi, Kenzou Nose, Hideki Matsuzawa
Life of this patent
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Abstract
A link actuation apparatus that actuates a parallel link mechanism where a spherical drive mechanism is constructed includes a controller configured to calculate, based on spherical trigonometry, an attitude of a second link hub from angles βA1 and βA2 that represent the attitude of a first end link member with respect to a first link hub in two of at least three link mechanisms. The link actuation apparatus capable of performing forward transformation in real time is thus provided.
Claims4
A link actuation apparatus comprising:
- a first link hub on a base end side;
- a second link hub on a tip end side;
- at least three link mechanisms that couple the first link hub and the second link hub to each other,
- each of the at least three link mechanisms including
- a first end link member rotatably coupled to the first link hub,
- a second end link member rotatably coupled to the second link hub, and
- a central link member rotatably coupled to each of the first end link member and the second end link member,
- in the at least three link mechanisms,
- at least three central axes of revolute pair portions of the first link hub and the first end link members and a central axis of a revolute pair portion of one end of the central link member intersecting at a first link hub center point, and
- at least three central axes of revolute pair portions of the second link hub and the second end link members and a central axis of a revolute pair portion of the other end of the central link member intersecting at a second link hub center point;
- and
- a controller configured to calculate based on spherical trigonometry, a position and an attitude of the second link hub from angles of the first end link members with respect to the first link hub in two of the at least three link mechanisms.
9 more elements
Dependencies are inferred from the claim text.